The invention discloses a
semantic mapping and positioning method based on priori
laser point cloud and
depth map fusion. The method comprises the steps of S1, collecting priori
laser point cloud data; S2, acquiring a depth image and an
RGB image, generating RGB-D
point cloud based on the depth image, and initializing and registering priori
laser point cloud and RGB-D point cloud; S3, camera poseconstraints are provided by the registered prior laser point cloud to perform camera
pose correction; S4, a three-dimensional geometric point cloud map is created by adopting a front and back window optimization method; S5, geometric increment segmentation is carried out on the three-dimensional geometric point cloud map, object recognition and semantic segmentation are carried out on the
RGB image, geometric increment segmentation and semantic segmentation results are fused, and a 3D geometric segmentation map of semantic enhanced geometric segmentation is obtained; and S6,
semantic association and segmentation probability allocation updating is carried out on the object to complete construction of a
semantic map. Accumulated errors of large-scale indoor mapping and positioning can be effectively eliminated, and precision and real-time performance are high.