Map construction method and device based on lane line semantics

The embodiment of the invention provides a map construction method and device based on lane line semantics, and relates to the technical field of map construction. The method comprises the following steps: acquiring original data, wherein the original data comprises a camera image and IMU data; oRB feature points and lane line information are obtained through the original data, and the obtained lane line information is converted into lane line constraint information; performing dynamic point elimination operation on the ORB feature points to obtain an ORB feature point set; performing camera pose estimation and pose optimization by using the ORB feature point set to obtain a camera pose estimation result; and constructing a map based on the camera pose estimation result and the ORB feature point set. According to the method, a dynamic point deletion function is added, constraint information is added for the SLAM solving problem, robustness and precision are improved, and the problem that robustness and precis