陆空无人系统在时空受限环境中的协同感知与交互是自主无人系统面临的关键挑战。针对陆空无人系统面对的全天候复杂环境、多源数据异构和平台类型差异等约束条件，本项目将开展复杂环境下陆空无人系统协同多模态认知和定位建图方法研究，提出“全天候多模认知-大视差协同定位-跨平台语义建图”的研究路径，实现陆空无人系统协同感知、定位与建图。研究内容包括：开展多源异构信息融合的全天候认知与理解方法研究，构建基于多光谱输入的深度学习网络，实现全天候语义认知和理解；研究大视差下基于语义特征的协同定位方法，设计基于球面卷积神经网络的语义特征提取方法，实现语义层次的陆空无人系统高精度协同定位；研究陆空无人系统信息共享及联合语义建图方法，实现跨平台联合构建全局三维语义地图。本项目将提供陆空无人系统协同感知与定位建图的理论方法和技术支撑，提升陆空无人系统的协同态势认知及多机交互能力，促进其在社会经济和国防领域的发展应用。

Cooperative perception and interaction of UGV-UAV systems in space-time-restricted environments are the key challenges faced by autonomous unmanned systems. Aiming at the restrictions of all-weather complex environments, heterogeneous multi-source information, and platform type differences, this project will carry out research on collaborative multi-modal understanding, localization and mapping for UGV-UAV systems in complex environments. More specifically, the research framework of "all-weather multi-modal understanding, collaborative localization under large perspective differences, cross-platform semantic mapping" is proposed to achieve collaborative perception, localization and mapping of UGV-UAV systems. First, environmental segmentation and understanding methods based on multi-source information will be investigated. The project will construct CNN networks based on multi-spectral input, which aims to realize all-day semantic segmentation and understanding. Second, to achieve accurate relative localization on the semantic level, a collaborative localization method is proposed based on semantic features under large perspective differences, where semantic features are extracted based on spherical CNN. Third, the information sharing and collaborative semantic mapping framework are addressed to generate a global consistent 3D semantic map. This project proposes theory basis and technology framework of collaborative perception, localization and mapping for UGV-UAV systems. It will improve the cooperative situational awareness and interaction capabilities of UGV-UAV systems, and boost their development and application in the field of social economy and defence.