Edge extraction method and device based on point cloud

The embodiment of the invention provides a point cloud-based edge extraction method and device, and the method can obtain target point clouds of different coordinate feature points, and detects the neighborhood information of the feature points through a voxel neighbor search algorithm. And obtaining difference features of the feature points according to the neighborhood information. Wherein the difference features comprise the displacement of the feature points after smoothing processing, and/or the maximum included angle of adjacent projection vectors in the feature points. And calculating a discrimination threshold according to the difference features, and marking the feature points with the difference features greater than the discrimination threshold as edge points. According to the method, the neighborhood information of each feature point can be acquired based on a voxel neighbor search algorithm, and the acquisition efficiency of the neighborhood information is improved; and the edge points in the poi