Three-dimensional point cloud splicing method, device and equipment

The invention provides a three-dimensional point cloud splicing method, device and equipment, and relates to the technical field of image processing, and the method comprises the steps: obtaining a plurality of groups of calibration plate images and calibration plate grating pictures; performing scanner calibration on the calibration plate image and the calibration plate grating picture to obtain a structured light scanning equipment coordinate system; acquiring a three-dimensional point cloud of the target object; converting the three-dimensional point cloud of the target object into a coordinate system of a calibration indoor positioning system from the coordinate system of the structured light scanning equipment to obtain a transformation initial value; and performing registration fusion on the transformation initial value to obtain a fusion point cloud. According to the scheme, the point cloud splicing precision is improved, the robustness is enhanced, point cloud splicing is more complete through registr