The invention discloses a point cloud plane segmentation method based on quick adjacency voxel query, which comprises the following steps: constructing an octree according to point cloud data, puttingeach point into a corresponding octree node according to a coordinate value, wherein each node corresponds to a voxel; coding nodes of the octree by adopting a binary coding mode, and quickly querying adjacent voxels according to voxel codes; calculating the significance characteristic of each voxel; carrying out coarse segmentation on voxels by using a region growing algorithm; and performing fine segmentation on each point in the unsegmented voxel according to the distance from the point in the unsegmented voxel to the nearest plane in the adjacent voxel. According to the method, the problems of over-segmentation and under-segmentation of the point cloud plane are effectively reduced, the recall rate and accuracy of point cloud plane segmentation are improved, the influence of point cloud noise is small, and the calculation efficiency is high.
Point cloud plane segmentation method based on rapid adjacent voxel query