The embodiment of the invention provides a method for map construction of a robot based on semantics. Firstly, N particle samples are obtained after last resampling, according to pose information of the robot at the t-1 moment and a probabilistic motion model of the robot, pose information of N particles at the t moment is estimated, wherein each particle corresponds to a possible trajectory of the robot; in semantic scanning data at the t moment, K semantic points corresponding to each particle in the N particles in different poses are acquired, a weight of each semantic point at the t momentis calculated, according to the weights of the K semantic points, a weight of each particle at the t moment is calculated, and the semantic scanning data at least comprises data with object probability labels; the particle with the largest weight in the N particles is acquired, and according to the semantic scanning data corresponding to the particle with the largest weight, a semantic map is constructed.