Multi-scale coordinate axis angle feature point cloud fast registration method

The invention discloses a multi-scale coordinate axis angle feature fast registration method. The method comprises the steps that a source point cloud P and a target point cloud Q are input; key points of the source point cloud P and the target point cloud Q are respectively extracted; feature descriptors of the key points are calculated; selection is carried out on two pairs of corresponding points as a group; correspondence groups which meet the maximum similarity of the feature descriptors and approximate equality of distance between two points in the source point cloud and distance between two points in the target point cloud are kept, and an initial corresponding point pair is acquired; a random sampling consensus algorithm is used to remove wrong correspondences to acquire accurate correspondences; a cluster sorting method is used to make the distribution of the accurate correspondences uniform; and a final correspondence is acquired through singular value decomposition calculation and is applied to a spliced transformation matrix. According to the invention, the method has the advantages of fast registration and great robustness, and is able to meet the needs of real-time three-dimensional optical measurement.