Self-adaptive parameter police dog posture estimation method based on visual inertial navigation odometer

The invention discloses a self-adaptive parameter police dog posture estimation method based on a visual inertial navigation odometer. A binocular vision inertial navigation odometer module is used; aself-adaptive parameter police dog posture estimation method based on the visual inertial navigation odometer is designed. The method comprises the steps that the binocular vision inertial navigationodometer module obtains camera six-degree-of-freedom pose data and camera continuous trajectory data, initialization is performed by using the standing posture of the police dog, meanwhile, the recognition range of the standing posture is calculated, the initialization of the standing posture is finished, the change of the camera pose is detected, and an adaptive parameter learning algorithm is added in the static posture estimation of the police dog. According to the self-adaptive parameter police dog posture estimation method based on the visual inertial navigation odometer, through self-learning of specific posture