A computer-implemented method for superimposing laser point clouds and a high-precision map representing a same urban scene, comprising: acquiring (S101) laser point clouds to be fused and a map to be fused respectively, wherein the map to be fused at least comprises a partial high-precision map; performing (S102) dilution processing on non-road laser point clouds in the laser point clouds to be fused to obtain target non-road laser point clouds; performing (S103) segmentation processing on the map to be fused to obtain multi-level map data corresponding to the map to be fused; and performing (S104) superposition processing on the target non-road laser point clouds and the multi-level map data, and visualizing a superposition result; wherein the performing (S102) dilution processing on non-road laser point clouds in the laser point clouds to be fused to obtain target non-road laser point clouds comprises: determining a dilution ratio; performing a weighted octree segmentation on the non-road laser point clouds according to the dilution ratio to obtain a non-road laser point cloud corresponding to each of multiple leaf nodes; and calculating, for each leaf node, the center of gravity within the voxel of the non-road laser point cloud corresponding to the leaf node, and determining an attribute value of the center of gravity as the target non-road laser point cloud corresponding to the leaf node, so that the attribute value of the center of gravity represents the non-road laser point cloud corresponding to the leaf node. acquiring (S101) laser point clouds to be fused and a map to be fused respectively, wherein the map to be fused at least comprises a partial high-precision map; performing (S102) dilution processing on non-road laser point clouds in the laser point clouds to be fused to obtain target non-road laser point clouds; performing (S103) segmentation processing on the map to be fused to obtain multi-level map data corresponding to the map to be fused; and performing (S104) superposition processing on the target non-road laser point clouds and the multi-level map data, and visualizing a superposition result; wherein the performing (S102) dilution processing on non-road laser point clouds in the laser point clouds to be fused to obtain target non-road laser point clouds comprises: determining a dilution ratio; performing a weighted octree segmentation on the non-road laser point clouds according to the dilution ratio to obtain a non-road laser point cloud corresponding to each of multiple leaf nodes; and calculating, for each leaf node, the center of gravity within the voxel of the non-road laser point cloud corresponding to the leaf node, and determining an attribute value of the center of gravity as the target non-road laser point cloud corresponding to the leaf node, so that the attribute value of the center of gravity represents the non-road laser point cloud corresponding to the leaf node. determining a dilution ratio; performing a weighted octree segmentation on the non-road laser point clouds according to the dilution ratio to obtain a non-road laser point cloud corresponding to each of multiple leaf nodes; and calculating, for each leaf node, the center of gravity within the voxel of the non-road laser point cloud corresponding to the leaf node, and determining an attribute value of the center of gravity as the target non-road laser point cloud corresponding to the leaf node, so that the attribute value of the center of gravity represents the non-road laser point cloud corresponding to the leaf node. <EOS>