Characterized complex environment sensing method and system

The invention provides a characterization complex environment perception method and system, and relates to the technical field of computer visual perception, and the method comprises the steps: filtering an original radar point cloud, reserving the three-dimensional coordinates of a target environment, and mapping the height value of the point cloud into a grid map; regarding a height value in the grid map as a pixel value of an image, and performing pseudo-imaging on the two-dimensional grid array; the features are extracted by constructing a convolutional network, and the grid features and the state features are spliced, so that the environment features are obtained. According to the method, the interpretability of the model is represented by using the distribution difference of the model weights in different environments, the consistency of the environment is qualitatively evaluated through the visual characteristic thermodynamic diagram, and the difference of the environment is quantitatively evaluated th