Dynamic environment laser SLAM method based on semantic constraints

The invention provides a dynamic environment laser SLAM method based on semantic constraints. The dynamic environment laser SLAM method comprises the following steps of: processing 3D radar point cloud data P by using a spherical projection mode to obtain a projection drawing I, and calculating to obtain a normal vector diagram N according to the projection drawing I; according to a map element classification and grading method, carrying out environment element category pre-definition, and then performing semantic segmentation on the projection drawing I according to a pre-defined environment element category to obtain a semantic segmentation result S; establishing a weight value of each environmental element category and taking the weight values as priori knowledge to carry out environmental element pre-screening on pixels on the projection drawing I, wherein the environmental elements are divided into dynamic elements, static elements and undetermined elements; initializing a semantic identification graph,