Multi-source fusion sensing method and system for autonomous mobile robot

The invention discloses a multi-source fusion sensing method and system for an autonomous mobile robot. The method comprises the following steps: determining rotation and translation transformation matrixes TBL and TBC of a laser radar and a depth camera relative to the center of the robot through external parameter calibration or mechanical structure design parameters; a radar mapping method is used for drawing a 2D map in a robot working environment, the 2D map is initialized into a static sensing layer, a calculation mode of a map index position and a real coordinate is determined, and virtual wall point pair data is set in a forbidden area. According to the method, the information of various sensors is fused, the environment sensing precision and adaptability of the robot are improved, compared with a single sensor, the multi-source fusion sensing method can better cope with the complex and changing environment, good flexibility and expandability are achieved, different sensor modules can be added or repl