ORB-SLAM based high-precision vehicle positioning method

The invention discloses an ORB-SLAM based high-precision vehicle positioning method, which mainly solves a problem of low accuracy of the positioning result of the current ORB-SLAM classical positioning algorithm. The implementation of the method comprises the steps of selecting a calibration board to calibrate a binocular camera, and carrying out stereo correction on a captured image; detecting ORB feature points in the corrected image, and completing the feature point extraction; matching the extracted feature points by using a binocular sparse feature matching method, then acquiring the current camera pose information by using an adjacent frame feature tracking method, and constructing a local map; carrying out closed-loop detection and global optimization on the constructed local map so as to complete the establishment of a visual map, and preserving the visual map; and selecting a vehicle positioning scheme according to the number of matched feature points in the image, and determining the final position