The invention relates to a
robot positioning and mapping method and device based on a depth image, a
computer device and a storage medium. The method comprises the following steps: using an RGB-D camera for carrying out surrounding environment detection; acquiring an
RGB image and a depth image; based on an
RGB image and a depth image, determining continuous image frames, calculating continuous image frames by adopting a sparse direct method; obtaining an initial
pose of the current frame; few calculations are carried out; determining initial
pose, increasing the
pose acquisition speed; meanwhile, calculating and optimizing the initial pose of the current frame by adopting a feature
point method; obtaining an accurate pose of the current frame; the illumination change or the fast movementis ensured; according to the accuracy of pose
estimation, performing
key frame selection according to the accurate pose of the current frame to obtain a
key frame sequence, performing local mapping and optimization based on the
key frame sequence to generate an environment map. The environment map is generated efficiently and accurately, and the efficiency and accuracy of
robot positioning and mapping are improved.