Point cloud registration method and device for driving equipment, equipment and medium

The invention discloses a point cloud registration method and device for driving equipment, equipment and a medium, and relates to the technical field of computers. The method comprises the following steps: firstly, obtaining two groups of point cloud data, then carrying out voxel division on point clouds, and constructing a relation weight coefficient for depicting the structural information similarity between voxel pairs according to a G-W distance between the central positions of the corresponding voxel pairs in a reference point cloud and a to-be-registered point cloud; secondly, rigid body transformation loss and rotation structure information loss between the center positions of the voxel pairs are determined, the loss sum is weighted through a constructed relation weight coefficient, and a loss function of point cloud registration of the driving equipment is constructed; and finally, solving the loss function to obtain a rotation matrix and a translation matrix of the to-be-registered point cloud based