Visual navigation method based on fast feature point extraction and mesh triangle constraint

The invention discloses a visual navigation method based on fast feature point extraction and mesh triangle constraint, which comprises the following steps: acquiring continuous video frame sequence images, extracting feature points in adjacent two frame images; meshing the extracted two adjacent frames of images; a 6-dimensional shape descriptor and a 32-dimensional region descriptor being constructed for each triangle, and a feature vector composed of 38-dimensional mixed descriptors of each triangle being obtained; matching the eigenvectors of the triangles corresponding to the mesh division, selecting the feature points with remarkable characteristics by the center point clustering method, eliminating the mismatched feature points, and eliminating the motion feature points by the polargeometry constraint, so as to obtain the effective and usable feature point pairs; completing the final solution of the motion model, and obtaining the position results of visual navigation solution.The invention provides a