The invention provides an indoor and independent
drone navigation method based on three-dimensional vision SLAM. The indoor and independent
drone navigation method comprises the steps that an RGB-D camera obtains a
colored image and depth data of a
drone surrounding environment; a drone operation
system extracts characteristic points; the drone operation
system judges whether enough characteristicpoints exist or not, if the quantity of the characteristic points is larger than 30, it shows that enough characteristic points exist, the drone attitude calculation process is conducted, or, relocating is conducted; a bundling optimizing method is used for
global optimization; an incremental map is built.
Drone attitude information is given with only one RGB-D camera, a three-dimensional surrounding environment is rebuilt, the complex process that a
monocular camera solves depth information is avoided, and the problems of complexity and robustness of a matching
algorithm in a binocular camera are solved; an iterative nearest-
point method is combined with a
reprojection error algorithm, so that drone attitude
estimation is more accurate; a drone is located and navigated and independentlyflies indoors and in other unknown environments, and the problem that locating cannot be conducted when no GPS
signal exists is solved.