A robot motion information estimation method based on an angle optical flow method

The invention discloses a robot motion information estimation method based on an angle optical flow method, and the method comprises the steps: 1, obtaining two continuous frames of images I and J ofmovement of a robot, and extracting feature points; Step 2, calculating angular point directions of the feature points at moments I and J corresponding to the two frames of images; Step 3, calculatinga relational expression of x, y, Theta, t and u, v, omega based on the gray invariance hypothesis; Step 4, selecting a w * w block around the feature point, obtaining w2 pairs of feature points; thenassuming that all pixels in the window have the same motion, considering A window with the size of w * w comprising w2 pixels, wherein all the pixels in the window have the same motion, so that w < 2> equations are obtained, the speeds u and v in the x direction and the y direction and the course angular speed of the robot at the moment are obtained after solving, and the position state information of the robot at the mome