The invention relates to an
active infrared vision fusion VR positioning method in an under-illumination environment, and the method comprises the steps: configuring an
active infrared illumination unit on a head-mounted device, controlling the
active infrared illumination unit to emit
infrared light to the environment in a preset illumination mode, and collecting an
infrared image; synchronously acquiring measurement data of the
inertial measurement unit; performing preprocessing and
feature extraction and tracking on the
infrared image to obtain visual features; carrying out pre-integration on the measurement data to obtain IMU pre-integration data; visual features and IMU pre-integration data are fused, and state
estimation and map construction are carried out through a multi-sensor tight
coupling optimization
algorithm; outputting a six-degree-of-freedom
pose; and based on a state
estimation result or visual
feature extraction quality, dynamically adjusting illumination parameters, and repeating the steps. The fundamental problem that a traditional visual scheme fails in the dark is thoroughly solved, stable and continuous six-degree-of-freedom
pose output is achieved, meanwhile, the optimal balance of
power consumption and performance is achieved, mutual interference among multiple devices is effectively restrained, and the precision and robustness of the
system are greatly improved.