The invention provides a
monocular line feature map construction method based on epipolar constraint, which comprises the following steps of: 1, tracking feature points of two adjacent frames of images Ki and Kj by using an
optical flow tracking method, and searching an
essential matrix of a reference
angular point and a tracking
angular point; 2, extracting LSD line features of each frame of image, and calculating an LBD descriptor; 3, calculating the midpoint
epipolar line of each straight line li of the
reference frame, and calculating the included angle theta between the midpoint epipolarline and the corresponding matched straight line; 4, selecting points on the straight line from the
point set P<i,k> of li, calculating intersection points of the epipolar lines corresponding to the points and the matched straight line, and the intersection
point set being I<i,k>; 5, determining a
point set P<j,k>; 6, normalizing and triangularizing the point set, determining a space point set Pk,fitting a straight line Lk.S7, re-projecting the straight line to the ith frame and the jth frame, constructing a re-projection error, and updating a camera
pose and a space straight line; 8, determining a starting point and an ending point of an endpoint space straight line; 9, updating straight lines.