Three-dimensional pose estimation method and system, computer equipment and storage medium

The invention relates to a three-dimensional pose estimation method and system, computer equipment and a storage medium. The method comprises the following steps: calibrating each sensor on an object to be subjected to pose estimation, and acquiring a sensor parameter corresponding to each calibrated sensor; acquiring environmental data acquired by each sensor according to the sensor parameters, and performing fusion processing on the environmental data to obtain local pose information corresponding to the object to be subjected to pose estimation; extracting laser data in the local pose information, acquiring prior information, and generating associated information of global pose data according to the laser data and the prior information; constructing a target function according to the environment data, the local pose information and the associated information; and solving the objective function to obtain three-dimensional pose estimation corresponding to the object to be subjected to pose estimation. By fus