Self-driving automobile pose updating method, device, equipment and medium

The invention relates to the technical field of autonomous vehicles, and discloses an autonomous vehicle pose updating method, device and equipment and a medium, and the method comprises the steps: obtaining driving environment image data, driving environment laser point cloud data and vehicle original pose information of an autonomous vehicle; extracting a first feature point in the driving environment image data and a second feature point in the driving environment laser point cloud data, and performing depth assignment on the first feature point according to the second feature point to obtain a feature point with depth information; performing pose estimation according to the feature points with the depth information and the original pose information of the vehicle to obtain a pose estimation result; and updating the original pose information of the vehicle according to the pose estimation result to obtain new pose information of the vehicle. The image data in the visual system and the point cloud data in t