The present invention relates to a point cloud re-extraction method and system using a Voronoi tessellation and k-nearest neighbor algorithm that equalizes the relative distance between cloud points and restores loss by removing noise contained in data, and a three-dimensional object A Voronoi diagram for the initial point cloud is estimated using a step of receiving an initial point cloud for, Voronoi tessellation and k-Nearest Neighbor algorithm, , Estimating a pointwise local surface according to the distance between points, acquiring an intersection point and a center of intersection between the Voronoi cell of the Voronoi diagram and the local plane for each point, and the intersection point and the intersection point And re-extracting the point cloud for the 3D object due to the center.
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