Orchard navigation universal tree row perception method and system based on 3D point cloud distribution peak

The invention discloses an orchard navigation universal tree row sensing method and system based on 3D point cloud distribution peaks, and designs a tree row point cloud distribution peak detection method universal for orchards of multiple types and multiple specifications. The general tree row sensing system is composed of a robot pitching-rolling attitude deviation compensation algorithm module, a region segmentation and point cloud filtering algorithm module, a course pre-correction algorithm module and a tree row point cloud distribution peak detection algorithm module. Full-autonomous general sensing of multi-type and multi-specification orchard tree rows in complex orchard environments such as local ground fluctuation and existence of large-volume interference point cloud clusters is realized, the method is simple, convenient and reliable, and deployment and operation on different robot bodies are facilitated. 本发明公开了一种基于3D点云分布峰的果园导航通用化树行感知方法及系统，设计了通用于多类型、多规格果园的树行点云分布峰检测方法，进而构建了由机器人俯仰-横滚姿态偏差补偿算法模块、区域分割与点