Laser radar point cloud data processing method

The invention discloses a laser radar point cloud data processing method, particularly relates to the technical field of laser radars, and is used for solving the problems that in a complex environment, laser radar point cloud features are complex, structures are numerous, and accurate filtering is difficult. Acquiring point cloud density information, detection target range information and detection target value information data; according to the invention, point sampling is carried out on each radar point in the laser radar point cloud, instability caused by random point sampling is restrained by combining clustering region segmentation and random point sampling, the size of the clustering region is evaluated in the process to ensure that the collected radar points can retain as many features as possible, and after sampling is qualified, the radar point cloud is subjected to point sampling. In addition, a convolutional network model needs to be constructed, features are extracted through a deep learning meth