Sweeper positioning method and device based on visual loopback, equipment and medium

The invention discloses a sweeper positioning method based on visual loopback, and the method comprises the steps: extracting an ORB feature vector of a current key frame collected when a sweeper walks, converting the ORB feature vector into a feature vector in a DBoW library. Because the ORB feature vector has the rotation invariance characteristic, the corresponding feature vector in the DBoW library has the rotation invariance characteristic. Therefore, the method for judging whether the visual loopback appears by comparing the feature vectors in the DBoW library between the current key frame and the historical key frame eliminates the influence of the rotation factor of the image on the loopback judgment, and greatly improves the success rate of the visual loopback of the sweeper and the accuracy of the loopback judgment. 本发明揭示了一种基于视觉回环的扫地机定位方法，通过提取扫地机行走时采集的当前关键帧的ORB特征向量，并将该ORB特征向量转换为DBoW库内的特征向量，由于ORB特征向量具备旋转不变性的特点，其对应的DBoW库内的特征向量也具备旋转不变性，因此通过比对当前关键帧以及历史关键帧之间的DBoW库内的特征向量来判断是否出现视觉回环的方法消除了图像的旋转因素对回环判断的影响，极大