The invention provides a method for constructing an indoor two-dimensional
semantic grid map with an object navigation point. The method comprises the following steps of S1, constructing an environment grid map, and acquiring a real-time position of a
robot; S2, completing recognition of an object in an environment; S3, obtaining a main body part of the target object, and obtaining coordinates ofthe target object in a camera coordinate
system; S4, performing coordinate conversion to obtain the coordinates of the recognized object in a grid map coordinate
system, and establishing an object grid map; S5, combining the object grid map and the environment grid map to obtain a
semantic grid map reflecting environment
semantic information; and S6, extracting a navigation point of the target object in the
semantic grid map to obtain an indoor two-dimensional semantic grid map with the navigation point. According to the method, an original grid map contains
semantic information and also contains the object navigation point, the semantic grid map provides richer features for
robot positioning and navigation, and higher-level complex tasks can be completed.