Method and device for extracting contour features of regular plane

The invention relates to a contour feature extraction method and device for a regular plane. The method comprises the steps of extracting feature line segments and contour features of a plane object in a target indoor scene; clustering the feature line segments according to the directions to obtain a first feature line segment set in multiple directions on the planar object; updating a plane range according to the plane and the two adjacent direction feature line segments; carrying out truncation processing on the part, exceeding the plane range, of the feature line segment in the first feature line segment set in each direction to obtain a second feature line segment set in each direction; and screening the feature line segments in the second feature line segment set in each direction according to the contour features to obtain the contour line segments of the planar object. The contour line segment of the plane object extracted by the method can be used as a remarkable visual feature to serve camera traject