The present disclosure discloses a method and an apparatus for point cloud registration. Semantic segmentation and rasterization are combined to be performed on the point cloud, more abundant feature information except the height and the reflectivity in the point cloud is provided due to diversity of the attribute features of the point cloud, and different registration solution may be employed for different attribute features, thereby improving the matching accuracy. On the one hand, taking the attribute feature as the basis of registration may also improve the matching accuracy for some strong feature scenes with less point cloud data. On the other hand, semantic segmentation may also remove noise matching the interference from the vehicle, the pedestrian and the like, further improving the matching accuracy.
METHOD AND APPARATUS FOR POINT CLOUD REGISTRATION, SERVER AND COMPUTER READABLE MEDIUM