The invention discloses a
laser vision
strong coupling SLAM method based on an adaptive
factor graph, and relates to the field of
laser vision
strong coupling. At present, a
visual system and a
radar system are not tightly combined, the fusion mode of multi-sensor data cannot be dynamically adjusted, and the utilization degree of feature information is low. The method provided by the invention comprises the following steps: defining four
robot scenes, and judging the scene of the current
robot through a scene detection module according to collected data of a
laser radar and a
monocular camera; preprocessing the data received by the IMU through the scene where the
robot is located, and calculaing the relative
pose of the robot between the two frames of laser
radar data; enabling the laser
speedometer module to uses different inter-frame matching
modes according to a scene where the robot is located to obtain a robot
pose between two frames; and enabling the
monocular camera module to collect feature point information and carry out re-projection error calculation. The method is suitable for autonomous positioning and
environmental perception of the robot in an indoor and outdoor fusion scene without GPS information.