Three-dimensional point cloud matching degradation processing method and device and program product

The invention provides a three-dimensional point cloud matching degradation processing method and device and a program product, and the method comprises the steps: S1, inputting parameters into a three-dimensional point cloud matching model, the parameters comprising a target function, a to-be-optimized variable and a constraint condition; s2, initializing a variable to be optimized; s3, establishing an increment equation; s4, calculating an increment equation to obtain an original solution of the increment equation; s5, judging whether a degradation problem occurs or not, if so, entering step S6, and if not, entering step S8; s6, determining a degradation subspace; s7, performing zero setting on the component of the original solution of the increment equation to obtain a reconstruction solution of the increment equation; s8, judging whether the degradation subspace is empty or not, and updating the pose variable by using the original solution/reconstructed solution of the incremental equation according to th