Dynamic environment offline visual odometer expanding method

The invention discloses a dynamic environment offline visual odometer expanding method. The method comprises the following specific steps: firstly, extracting point features from an image sequence tocalculate an initial pose matrix, and obtaining a predicted current frame image according to the initial pose matrix; and carrying out optical flow and residual value calculation through two adjacentframes of images and the frame of image before prediction, and eliminating the dynamic feature points; carrying out static linear expansion according to the collinear relationship of the remaining static feature points, and constructing a collinear matching matrix; and performing BA optimization through the remaining static feature points and static linear features, and adjusting the pose of the camera. Experimental results in a dynamic environment show that compared with other methods, the method has the advantages that tracking errors can be effectively reduced, the precision and robustnessof the visual odometer are