The invention discloses a manifold pre-integration-based visual inertial milemeter posture
estimation method and device. After finishing the initialization of the visual inertial milemeter
system, themethod comprises: visual inertial data alignment, visual
optical flow position posture calculation, inertial pre-integration, visual and inertial joint optimization, window marginalization and aboveprocess repetition so that continuous
estimation of camera postures is realized. Compared with the single visual milemeter
system, the manifold pre-integration-based visual inertial milemeter
system has a higher positioning precision, effectively utilizes inertial information in the milemeter system based on the manifold pre-
integration algorithm, inhibits
noise propagation of the system and reduces the influence of the inertial
zero drift on the positioning accuracy of the milemeter.