Point cloud registration method and device, equipment, storage medium and program product

The invention provides a point cloud registration method and device, equipment, a storage medium and a program product, relates to the technical field of three-dimensional point cloud processing, and is used for solving the problem of relatively low point cloud registration efficiency. The method comprises the steps that multiple pieces of initial point cloud data are obtained, the multiple pieces of initial point cloud data are corresponding point cloud data of a to-be-recognized object at different collection positions, and repeated point cloud data exist between any two pieces of initial point cloud data; according to the two-dimensional feature of each piece of initial point cloud data, a coordinate transformation matrix among the multiple pieces of initial point cloud data is determined, and the coordinate transformation matrix is used for converting the point cloud data of different collection positions into the same coordinate system. And according to the coordinate transformation matrix among the mult