The invention relates to the technical field of multi-
modal sensing, and discloses a multi-
modal large model detection and recognition
robot recognition system for a complex scene, the
system constructs a dynamic manifold modeling module, realizes cross-
modal joint denoising through a
stochastic differential equation and depth
score matching, constructs a drift term and an
anisotropic diffusion term by using an
optical flow field, and realizes multi-modal detection and recognition of a multi-modal
large model.
Dynamic noise interference such as rain
fog and
motion blur is eliminated; on the basis, designing an information geometric alignment module, and based on Riemannian manifold optimization and orthogonal projection matrix calculation, realizing geometric
equidistant mapping of vision-Li DAR features through multi-
scale measurement tensor fusion; a dynamic external parameter calibration module is further provided, SE (3) manifold Kalman filtering is combined with a
noise self-adaptive scaling technology, and external parameter offset is tracked and compensated in real time. Compared with a traditional method, the method has the advantages that the core problems of cross-
modal data geometric mismatch, external parameter drift accumulation, low semantic fusion efficiency and the like are solved, and the sensing precision and robustness of the automatic driving
system in a complex dynamic scene are remarkably improved.