| abstract |
The invention relates to a fusion positioning method based on multi-sensors in a dynamic scene. The method includes: S1, acquiring dynamic event point cloud collected by a dynamic vision sensor camera and environmental point cloud data collected by laser radar; S2, analyzing the dynamic event point cloud Process and filter out noise events to obtain a dynamic object image; S3, identify the dynamic object in the dynamic object image, and frame the dynamic object area; S4, map the dynamic object area to the environmental point cloud data and remove the dynamic object point cloud to obtain Static environment point cloud; S5, registering the static environment point cloud and map features to obtain positioning information. Compared with the prior art, the positioning accuracy and robustness of the present invention are greatly improved. |