The invention discloses a dynamic object removal method based on
point cloud features and a Monte Carlo
extension method, and solves the problem that a dynamic object appears in an SLAM
system. The method comprises the following steps: 1, constructing a
point cloud data sample
data set, constructing a three-dimensional
global coordinate system, and initializing environment information; 2, extracting
point cloud data under a
global coordinate system, and calculating local curvature, an
inertia tensor matrix and a
covariance matrix of the point
cloud data as point cloud space distribution characteristics; 3, carrying out the preprocessing of a point cloud filter, and removing isolated points and edge points; and 4, innovatively providing a point cloud clustering
algorithm from the center to the edge, clustering the preprocessed point
cloud data based on the newly designed point cloud clustering
algorithm, and determining the contour of the object; 5, using a Monte Carlo method to improve the total probability formula, recurring and calculating the influence weight of the point cloud particles, deducing the clustering object state, removing the dynamic object, and retaining the static object. According to the method, the dynamic information of the moving object in the physical environment is effectively removed, and a real static physical environment is obtained.