The application provides an automatic mapping method for complex
terrain environment, and relates to the technical field of automatic mapping. The method comprises the following steps: firstly, acquiring multi-
modal sensing data and performing
pose calculation to construct an initial
pose graph and a local mapping model; extracting
spatial geometry and
visual texture features to calculate an information matrix, and solving a spatial feature
degradation index and a degradation type identifier; when the
degradation index exceeds a preset threshold, determining a feature degradation area, calculating a dynamic observation weight matrix and extracting a local credibility topological boundary based on the feature degradation area; planning an
active compensation survey trajectory based on the boundary, controlling a mapping platform to perform
active compensation survey to acquire supplementary
sensing data, and generating a compensation constraint edge by correlation; finally, injecting the weight matrix and the compensation constraint edge into the
pose graph to perform global
graph optimization solving, and outputting a globally consistent mapping product. The application solves the problems of
divergence of pose solving caused by environmental feature degradation and lack of
active compensation repair mechanism in the prior art.