Monocular visual positioning IMU (Inertia Measurement Unit) aided tracking method and device

The invention provides a monocular visual positioning IMU (Inertia Measurement Unit) aided tracking method and device. After visual system initialization is completed, and after the IMU initializationis completed when data is stable, a visual positioning result and an IMU positioning result are obtained; under the conditions that the visual tracking is normal, and the visual positioning time andthe IMU positioning time are consistent, the IMU positioning result is corrected according to the visual positioning result; and under the condition of visual tracking failure, the IMU positioning result is used for assisting the visual positioning. When the visual tracking is normal, the IMU positioning result is corrected through the visual positioning result. The IMU positioning and attitude determination precision is improved. When the visual tracking fails, the IMU positioning result is used for assisting the visual positioning, and the dynamic tracking positioning precision is improved. 本发明提供了一种单目视觉定位的IMU辅助跟踪方法及装