The present disclosure provides a point cloud data processing method, apparatus, electronic device and computer readable storage medium, which relates to computer vision technology and may be used for autonomous driving. A specific implementation solution is as follows: obtaining a first feature vector of each point in first point cloud data, and determining at least one first key point in the points in the first point cloud data according to the first feature vectors of respective points; according to the and a preset first conversion parameter between second point cloud data and the first point cloud data, obtaining second key points of the second point cloud data corresponding to the first key points in the at least one first key point, as candidate matching points; according to the first point cloud data, the second point cloud data and a preset search radius, determining at least one first neighboring point of the and at least one second neighboring point of the candidate matching point corresponding to the at least one first key point; determining a matching point with which the at least one first key point is registered, according to the at least one first neighboring point of the at least one first key point and the at least one second neighboring point of the candidate matching points.