Mobile context point cloud simplification algorithm based on point feature histogram

The invention discloses a mobile context point cloud simplification algorithm based on a point feature histogram (namely a PFH operator). The algorithm mainly comprises the steps of receiving a point cloud set from a point cloud obtaining device; calculating the PFH operator of each point; calculating the standard deviation of the PFH of each point, and designing simplification rules; calculating out a corresponding relation table between the threshold values and the simplification rates of different standard deviations; according to the requirements to the simplification rate from a user, determining the threshold value; reserving the point sets with standard deviations less than or equal to the threshold value in point cloud data, in point cloud data, and eliminating other point sets. According to the mobile context point cloud simplification algorithm based on the point feature histogram, the simplification rate is high, the realtime performance is great, and adequate geometrical characteristics are reserved for scene reconstruction.