Mapping method and system fusing enhanced multi-line laser radar and IMU (Inertial Measurement Unit)

The invention provides a mapping method and system fusing an enhanced multi-line laser radar and an IMU, and the method comprises the steps: carrying out the threshold judgment of received three-dimensional point cloud information through employing a differential detection mode, carrying out the clustering of point clouds exceeding a threshold through employing a DBSCAN clustering algorithm, and eliminating the clustering of noisy points; the method comprises the following steps: synchronizing the data receiving time of a multi-line laser radar and an IMU (Inertial Measurement Unit) by using a time synchronization mode, ensuring the consistency of data receiving, and carrying out fusion optimization on the data of the multi-line laser radar and the IMU by using an extended Kalman filter (EKF) method to correct errors generated during data receiving, so that point cloud and pose information are matched more accurately, and preparation is made for subsequent map fusion; an adaptive feature point cloud picture e