Ground unmanned platform environment perception method integrating visual perception and body perception

A ground unmanned platform environment perception method based on fusion of visual perception and body perception utilizes a laser radar, a visual camera, a high-precision positioning system and a body perception module to identify attributes of earth roads, deserts, grassland and the like of the ground through visual perception, and identifies attributes of looseness, softness, hardness, smoothness and the like of the ground through body perception. And fusing the visual perception result and the body perception result through space-time alignment to form a ground environment perception result with richer attributes. According to the method, through space-time alignment, body perception and visual perception are fused, and the environment perception capability of the ground unmanned platform is improved. 一种基于视觉感知与机体感知融合的地面无人平台环境感知方法，利用激光雷达、视觉相机、高精度定位系统、机体感知模块，通过视觉感知对地面的土路、沙漠、草地等属性进行识别，通过机体感知对地面的松、软、坚硬、滑等属性进行识别，通过时空对齐对视觉感知结果和机体感知结果进行融合，形成属性更丰富的地面环境感知结果。该方法通过时空对齐，将机体感知与视觉感知进行融合，提高地面无人平台环境感知能力。