Underground pipeline inspection method and device based on laser-vision fusion

The invention provides an underground pipeline inspection method and device based on laser-vision fusion, and relates to the technical field of three-dimensional reconstruction, and the method comprises the steps: carrying out the collection of an underground pipeline through a pre-built unmanned platform, and obtaining visual image data and laser point cloud data; wherein the unmanned platform comprises a visual sensor and a laser radar scanner; determining pose change information of the unmanned platform based on the visual image data and the laser point cloud data; constructing a digital model of the underground pipeline based on the pose change information and the laser point cloud data; and inspecting the underground pipeline based on the digital model and the visual image data, and outputting an inspection result. Compared with manual inspection of the underground pipeline, the method has the advantages that the unmanned platform is used for collecting laser-vision data of the underground pipeline, an a