Multi-sensor fusion object surface feature attitude estimation method and system

The invention discloses a multi-sensor fusion object surface feature attitude estimation method and system, and relates to the technical field of construction of surface measurement, and the method comprises the steps: calibrating a visual sensor, obtaining a main view of a measured object, obtaining a minimum bounding box according to the main view, dividing the minimum bounding box, and calculating the attitude of the measured object according to the minimum bounding box. Obtaining a plurality of sub-bounding boxes, calculating the optimal imaging pose of each mapping area according to the mapping area of each sub-bounding box, and collecting the two-dimensional data of the measured object according to the optimal imaging pose; calibrating a laser displacement sensor, acquiring point cloud data of the measured object, forming three-dimensional data of the measured object, and converting a coordinate system of the three-dimensional data from a coordinate system of the measured object to a coordinate system o