Visual inertial navigation fusion pose estimation method suitable for augmented reality application

The invention belongs to the technical field of augmented reality, and particularly relates to a visual inertial navigation fusion pose estimation method suitable for augmented reality application. The method comprises the following steps: 1, respectively acquiring an image and IMU data from an image sensor and an IMU; 2, performing robust preprocessing on the image and the IMU data; 3, performingrobust initialization on the system; 4, starting a pose estimation module, continuously estimating the pose of the system and outputting the latest pose of the system to the outside; 5, starting a loopback detection and pose graph optimization module, constructing an image database based on the point feature descriptors and the line feature descriptors, comparing the coming latest key frame images with the images in the data determining that loopback occurs if the similarity is greater than a certain threshold, and eliminating accumulated errors of the latest key frame by using the detected loopback information. Acco