Three-dimensional point cloud map reconstruction method for humanoid robot in closed environment

The invention discloses a three-dimensional point cloud map reconstruction method for a humanoid robot in a closed environment. The method comprises the following steps: S1, collecting information in a real scene by the humanoid robot; processing the collected information to obtain a three-dimensional point cloud model of the real scene; s2, performing point cloud segmentation on the three-dimensional point cloud model, and then obtaining a point cloud model of each object in the real scene; s3, calculating coordinates of each object in the real scene in the point cloud coordinate system; s4, when the size of the real scene is unknown, calculating the size of the real scene; s5, calculating coordinates of all objects in the real scene in the real scene coordinate system; and S6, ground detection is carried out, and map reconstruction is completed. According to the method for reconstructing the three-dimensional point cloud map in the closed environment of the humanoid robot, point cloud three-dimensional reco