The invention relates to a method for generating a three-dimensional space semantic occupation grid at low cost. The method comprises the following steps: acquiring
point cloud data and corresponding obstacle labeling information; according to the marked position of the obstacle, removing the marked
point cloud of the obstacle in the
point cloud data to obtain background point cloud; segmenting the generated background point cloud by using a ground segmentation
algorithm, wherein all points in the background point cloud are divided into ground points and non-ground points; re-integrating the ground point cloud, the non-ground point cloud and the obstacle marking point cloud into a complete point cloud according to the
semantics of the respective parts; a occupancy grid is generated for the generated semantic segmentation point cloud using an occupancy grid generation
algorithm. According to the method, generation only needs to be carried out through an
algorithm on the basis of point cloud obstacle
annotation, and compared with point cloud
semantic annotation, the cost is reduced by about 10 times on the existing
annotation market at present. The technical scheme is simple in design, easy to implement and operate, and beneficial to being popularized and applied to actual scenes.