The invention discloses a visual
inertia filtering method based on manifold
processing, and belongs to the field of
mobile robot positioning, and the method comprises the steps: obtaining updated
pose information based on an
inertia IMU sensor; performing Lie group construction based on the updated
pose information and the position information of the plurality of
landmark points to obtain a complete state of the
robot containing deviation information at the current moment; on the basis of the Lie group and the deviation information, uncertain representation, a
state model and a measurement model of the current moment of UKF-based invariant Kalman filtering are constructed; updating the
state model of the next moment based on the
state model; updating a
state covariance matrix decomposition factor at the next moment based on the uncertainty of state propagation and the
process noise covariance matrix; and if the
visual observation data of the
landmark exists at the next moment, calculating an observation value based on the measurement model and updating the state and the
state covariance matrix decomposition factor at the moment by combining the observation value, otherwise, repeating the step of updating the state model and the
state covariance matrix decomposition factor at the next moment.