Vehicle-mounted look-around online SLAM system and method based on multi-camera model

The invention discloses a vehicle-mounted surround-view online SLAM system and method based on a multi-camera model. The system comprises a multi-camera module which employs a plurality of cameras, is disposed in different directions of a vehicle, and is used for collecting the image information of the surrounding environment of the vehicle; a data input module which establishes a multi-camera model according to input image information and motion parameters of a vehicle, and performs vehicle motion estimation and positioning by using a multi-camera SLAM algorithm; a multi-camera angular point tracking module which performs angular point tracking on the image information, performs initial attitude estimation and repositioning of the vehicle, tracks a local map of the vehicle, and analyzes and judges whether a new key frame is inserted or not; and a fast pose calculation module; wherein the fast pose calculation module fusing the IMU and the wheel speed meter performs joint optimization on the motion parameters