Airport unmanned vehicle semantic slam mapping method based on laser radar

The invention relates to an airport unmanned vehicle semantic slam mapping method based on a laser radar, and solves the technical problem of how to design a map building method based on an SLAM (Simultaneous Localization and Mapping) so as to provide a basis for realizing functions of autonomous mapping, navigation, obstacle avoidance, cruising, monitoring and the like. The method comprises the following steps: deploying cameras on an airport unmanned vehicle, carrying out identification, segmentation and two-dimensional semantic analysis on an environment object by using the cameras, and carrying out depth estimation on the environment object through multiple cameras; a three-dimensional SLAM of a current vehicle is obtained through a laser radar, the three-dimensional SLAM and a three-dimensional point cloud of a camera are matched to form a dimensional point cloud, a high-precision grid map of the laser SLAM and rich environment information of the visual SLAM are combined and fused with a grid map of the