Video registration method and device

The invention discloses a video registration method and device, and the method comprises the steps of calibrating a camera based on a linear model, and solving an interior orientation element estimation value and an exterior orientation element estimation value of the camera; and performing iterative optimization on the internal orientation element estimated value and the external orientation element estimated value based on the nonlinear model to obtain an internal orientation element parameter and an external orientation element parameter for video registration. The invention provides a video registration method and device; the method includes calibrating the camera based on the linear model; the camera parameters obtained by camera calibration are iteratively optimized in combination with the nonlinear model, and the iteratively optimized interior orientation element parameters and exterior orientation element parameters are adopted during video registration, so that camera calibration errors caused by opt