Cultivation inspection robot navigation method and system based on 2D laser and visual marginal line dynamic fusion

The invention belongs to the field of computer vision and robots, and discloses a culture inspection robot navigation method and system based on 2D laser and visual edge line dynamic fusion. The method comprises the following steps of: intercepting a picture, and removing noise of the picture; using an edge detection and straight line fitting method to extract straight line features; screening aisle marginal line features, drawing inspection navigation lines on two sides, converting the picture with the navigation lines into a BEV picture, and calculating a visual navigation yaw angle in the BEV picture; constructing a global initialization map; taking the visual navigation line as a current laser global planning path, and performing local path adjustment by using a local path planning method; matching the 2D laser radar with the grid map, and calculating a yaw angle with the target point; the yaw angle phi of the actual position is adjusted according to the reliability Rvison and Rlaser of different navigati