The invention discloses an object-level environment
reconstruction method based on a hyper-quadric surface, and the method specifically comprises the steps: constructing four core assemblies, namely a visual data collection module, a semantic preprocessing module, an object modeling and optimization module, and a
data association and
loopback detection module, based on an ROS2 frame and employing a
modular design; the visual
data acquisition module adopts a
monocular camera to capture
RGB image flow in real time and publish an original image, the semantic preprocessing module carries out
semantic information extraction based on decoupling type instance segmentation, the object modeling and optimization module carries out super-quadratic surface initialization and outer point
elimination, and then carries out super-quadratic surface optimization, and the object modeling and optimization module carries out super-quadratic surface optimization. Obtaining the precisely fitted
geometric representation of the object; and the
data association and
loopback detection module performs
dynamic data association and
loopback detection enhancement. According to the method, the object modeling error is reduced, the
pose estimation precision is improved, the environment
perception capability is enhanced, the real-
time processing capability can be maintained, and high-level semantic environment
cognition support is provided for autonomous navigation of the
robot.