Joint positioning method based on RGB-D and laser speedometer

The invention discloses a joint positioning method based on a RGB-D and a laser speedometer. In the present invention, visual localization is based on the RGB-D, motion estimation is carried out according to line feature matching, and an EKF-SLAM is used in a laser method to carry out motion estimation, when the two algorithms are successfully positioned at the same moment, the system has two poses, and optimal estimation is obtained by carrying out combined filtering on the two poses; and if positioning failure is caused by certain scenes such as low textures and the like, the pose obtained by laser radar positioning is taken as the optimal pose of the global filter. Therefore, a combined positioning mode is adopted, advantages and disadvantages of a radar system and a depth camera systemare integrated, and visual SLAM based on line features and the EKF-SLAM are combined, so that the positioning and mapping precision of the system is greatly improved. 本发明公开了种基于RGB-D与激光里程计的联合定位方法。在本发明中，视觉定位基于RGB-D，根据线特征匹配进行运动