Visual perception and body perception fused ground unmanned platform perimeter perception method

The invention discloses a visual perception and body perception fused ground unmanned platform perimeter perception method, which comprises the following steps of: identifying a ground surface category attribute through forward visual perception, identifying a ground surface state attribute through body perception, and fusing a visual perception result and a body perception result through a long-short term memory neural network to obtain a visual perception result and a body perception result; a ground environment sensing result with richer attributes is formed; performing real-time updating on an algorithm for backward visual perception through an online learning algorithm on the fused topographic features, and identifying topographic elements in a backward visual perception range without body perception information and with visual information; and splicing the sensing results of the two parts through space-time alignment, and outputting a 360-degree perimeter terrain environment recognition result of the un