The invention discloses a visual
odometer method with mine weak texture
perception enhancement and a related device. The method comprises the following steps: acquiring a mine frame
stream image; evaluating the brightness of the mine frame
stream images, and screening out mine frame
stream images which need or do not need
image restoration processing;
processing the mine frame stream image needing to be subjected to
image restoration processing by adopting a multi-stage image illumination
restoration method; adopting an ORB feature point extraction framework, performing
texture measurement on the mine frame stream restored image and the mine frame stream image which does not need to be subjected to
image restoration processing based on a Tamura theory, and obtaining feature point distribution density; improving the
quadtree homogenization based on the sensing condition of the mine frame stream
image texture; performing pre-integration and initialization on the IMU data by using all the IMU data in a time period from a previous frame to a current frame in the mine frame stream image; carrying out tight
coupling on the matching motion tracking information of the mine frame stream image and the IMU motion information, and calculating the relative
pose of the equipment main body carrying the
speedometer.