Combine harvester steering control method based on field vision SLAM

The invention provides a combine harvester steering control method based on field vision SLAM (Simultaneous Localization and Mapping), which comprises the following steps: an industrial personal computer divides a field image into a harvested area and a non-harvested area according to a navigation datum line based on an image acquired by a binocular camera, and a front-end visual odometer performs targeted feature extraction on field stubble cluster and crop information analysis; estimating the poses of the combine harvester, and optimizing the poses of the combine harvester at different times based on Ceres rear-end optimization to obtain the optimized poses of the combine harvester; and the steering adjustment angle of the combine harvester is obtained according to the deviation between the optimized pose of the combine harvester and the navigation datum line, and steering control over the combine harvester is achieved. According to the invention, the image can be distinguished by the industrial personal co