The invention discloses a dynamic obstacle recognition and avoidance method based on
laser and visual feature
level fusion, and relates to the technical field of
robot autonomous
obstacle avoidance. According to the method, a
laser radar and an industrial camera are arranged on the head or the front of a
robot,
point cloud and image data are collected in real time, geometric features and semantic features are extracted, and the
robot autonomous
obstacle avoidance is achieved. Generating a fusion
feature set F1 through adaptive geometric
semantic mapping and graph structure
feature fusion; calculating a geometric
semantic consistency index CSI based on the geometric offset, the
semantic feature gradient and the reprojection residual error, and performing dynamic correction; a
modal reliability weight index MRI is calculated through the CWG-Net, and bimodal features are compensated to generate F2; further obtaining the
structural stability, the behavior sudden change probability and the
visibility of the dynamic obstacle, calculating a dynamic behavior
risk index DRI, marking a dangerous obstacle and planning an
obstacle avoidance path; and a dynamic obstacle avoidance strategy is generated by using the prediction model and closed-
loop control is performed, so that safe autonomous obstacle avoidance and real-
time response of the robot in a complex dynamic environment are realized.