Solid-state laser radar point cloud motion compensation method and device, computer equipment and medium

The embodiment of the invention provides a solid-state laser radar point cloud motion compensation method and device, computer equipment and a medium, and relates to the technical field of laser motion compensation, and the method comprises the steps: obtaining the single-frame point cloud data of a solid-state laser radar; decomposing the single-frame point cloud data into a plurality of time slices according to acquisition time; feature point extraction is carried out on the point clouds in each time slice; non-linear optimization calculation is carried out based on the feature points, and the linear velocity and the angular velocity of radar motion within the single-frame point cloud data acquisition time are solved; and performing motion compensation on the single-frame point cloud data based on the linear velocity and the angular velocity. According to the scheme, time slice decomposition is carried out on the single-frame point cloud, point cloud motion compensation is carried out through joint optimiza