1results about How to "Quick and accurate extraction" patented technology

The application relates to an orchard robot binocular vision inertial positioning method, device, equipment and medium, which comprises the following steps: screening the line features based on a preset line feature length screening algorithm to determine the line features with a preset length threshold, adopting a preset line feature matching screening algorithm to match the front and rear frames of the orchard images of the left eye or the right eye according to the line features with the preset length threshold to determine the line feature matching pairs, extracting the key frames of the orchard images according to the point feature matching pairs and the line feature matching pairs to determine the key frames in the orchard images, performing triangulation processing on the line features of the key frames to construct line feature re-projection residuals, fusing the line feature re-projection residuals with the cost functions of the prior residuals, IMU residuals and point feature re-projection residuals to minimize the cost functions, and completing the binocular vision inertial positioning of the orchard robot. The application significantly improves the positioning accuracy of the orchard robot.