Real-time multi-terminal map fusion method and device

The invention discloses a real-time multi-terminal map fusion method and device. The method comprises the following steps: acquiring two different dense sub-maps; determining an overlapping region between the two different dense sub-maps by using an AABB algorithm; searching matching point pairs in the overlapping region, and screening the matching point pairs based on normal vectors of the matching point pairs; taking the screened matching point pairs as input information, and fusing the two different dense sub-maps by adopting a GICP registration method to generate a global map; according to the method, overlapped region detection is carried out on different dense sub-maps, then the matching point pairs are screened out according to the overlapped region, and finally, the different dense sub-maps are fused based on the matching point pairs, so that full-coverage search on the dense sub-maps can be avoided, the map fusion calculation amount is reduced, and the real-time performance is improved. 本发明公开了一种实时多终端