中文摘要：

提出了一种基于八邻域深度差（8N-DO）的点云边缘提取算法。算法根据目标特征的点云，对每个特征点沿深度方向进行垂直投影并对投影点进行栅格划分，计算出每个栅格内投影点所对应深度的平均值作为该栅格的深度值；然后比较每个栅格与其八邻域栅格的深度差，根据深度差判断该栅格内是否存在边缘点，并采用排序法从栅格内筛选出目标的点云边缘点。针对含有非孔洞和孔洞的两种典型点云数据，利用八邻域深度差算法进行点云边缘提取，验证了算法的有效性。

英文摘要：

A novel point cloud edge extraction algorithm is proposed in this paper based on eight neighbor depth difference. In this algorithm, according to the point clouds of the object features, each feature point is projected vertically along the depth direction, the projection points are divided to grids, and the average of the depths corresponding to the projection points in each grid is calculated and used as the depth of the grid. Then, the depth of each grid is compared with those of its eight neighbor grids ; and according to the depth difference, whether edge point exists in the grid or not is determined, and then the sorting method is used to screen out the point cloud edge point of the object in the grid. Aiming at two typical point cloud data containing non-hole and hole, the proposed eight neighbor depth difference algorithm is used to extract the edges of point clouds, which verifies the effectiveness of the algorithm.