Positioning method and positioning system based on SLAM (Simultaneous Localization and Mapping) of multiple sensors

The invention discloses an SLAM positioning method and positioning system based on multiple sensors, and the method comprises the steps: obtaining a plurality of point clouds based on a laser radar, and forming a point cloud set based on the plurality of point clouds; denoising the point cloud set, and forming an outer contour of the obstacle based on the reserved point cloud; positioning the coordinate of the AGV, measuring and calculating the distance between the AGV and the center of the obstacle in two directions, and determining the positioning coordinate of the obstacle in combination with the coordinate and the distance; highlighting the positioning coordinates of the obstacle and the outer contour of the obstacle on a preset scene map to form a dynamically adjusted actual map; detecting the temperature of the obstacle along the positioning coordinates of the obstacle based on a temperature sensor, taking the temperature of the obstacle and the outer contour of the obstacle as reference bases, and dete