Visual SLAM feature matching method, system and device and readable storage medium

The invention provides a visual SLAM (Simultaneous Localization and Mapping) feature matching method, a visual SLAM feature matching system, a visual SLAM feature matching device and a readable storage medium. The method comprises the steps of 1, preprocessing binocular camera image data; step 2, performing pre-integration on a measured value of an inertial measurement unit IMU; step 3, carrying out error analysis on the pre-integration; step 4, predicting the pixel coordinates; and step 5, determining an adaptive threshold. According to the adaptive algorithm provided by the invention, the search radius of feature matching can be effectively reduced, regional constraints are provided for feature points, the accuracy of image feature matching is improved, and a relatively accurate pose initial value is provided for an SLAM system, so that the overall pose precision of the system is improved. 本发明提供了一种视觉SLAM特征匹配方法、系统、装置及可读存储介质，方法包括以下步骤；步骤1，预处理双目相机图像数据；步骤2，对惯性测量单元IMU测量值进行预积分；步骤3，对预积分进行误差分析；步骤4，对像素坐标进行预测；步骤5，确定自适