The invention discloses a
robot positioning method based on ultra-
wide field angle visual
image processing and IMU, and the method comprises the steps: shooting a target image through a
binocular stereo camera, converting the target image into a left image and a right image through a depth calculation model with
distortion compensation, and extracting feature points in the left image and the right
image based on a
computer vision technology, solving a depth value of each feature point by using a feature point
spatial distribution optimization function, establishing a reprojection residual model taking a frame number as a basic unit for the left and right images through inertial navigation, and obtaining residual terms of the left and right images, and based on the left and right image feature point depth values and the left and right image residual item optimization
coupling, realizing a positioning effect on a target image, carrying out visual
loopback optimization function detection on the positioning effect, triggering a
loopback effect when detecting that the
loopback similarity exceeds a threshold value, and carrying out target image positioning again. The method has the beneficial effects that the positioning precision of
visual positioning navigation is improved, and accumulated errors of positioning are reduced.