The application provides a camera and IMU joint calibration method, which comprises the following steps: step 1, initializing a target camera and a target IMU to obtain initialization parameters; step 2, constructing a first error L1 and performing one-time iterative optimization by using an LM
algorithm; step 3, updating the initialization parameters and the bias of the target IMU acceleration, and determining whether the
total error determined by the first error is less than a set threshold value; if yes, entering step 7, otherwise, entering the next step; step 4, obtaining gyro
noise and acceleration
noise according to the bias of the
gyroscope and the acceleration of the target IMU at each time after updating; step 5, constructing a second error according to the acceleration
noise and the first error L1; step 6, performing iterative optimization on the second
total error L2 by using the LM
algorithm, and determining whether the error is less than a preset threshold value; if yes, entering the next step, otherwise, entering step 3; and step 7, obtaining a calibration quantity. The application realizes joint calibration of the camera and the IMU, and has high efficiency and high accuracy.