A method for extracting a skeleton form a point cloud includes: obtaining inputted point cloud sampling data; contracting the point cloud using an iterative formula and obtaining skeleton branches, the iterative formula is: arg ⁢ ⁢ min X ⁢ ∑ i ∈ I = ⁢ ∑ j ∈ J ⁢  x i - q i  ⁢ θ ⁡ (  x j - q j  ) + R ⁡ ( X ) , wherein R ⁡ ( X ) = ∑ i ∈ I ⁢ γ i ⁢ ∑ i ′ ∈ I / { i } ⁢ θ ⁡ (  x i - x i ′  ) σ i ⁢  x i - x i ′  , θ ⁡ ( r ) = ⅇ 4 ⁢ ⁢ r 2 h 2 , wherein J represents a point set of the point cloud sampling data, q represents the sampling points in the point set J, I represents a neighborhood point set of the sampling points q, x represents the neighborhood points in the neighborhood point set I. R is a regular term, γ is a weighting coefficient, h is a neighborhood radius of the neighborhood point set I, and σ is a distribution coefficient; and connecting the skeleton branches and obtaining a point cloud skeleton.