Visual inertia odometer method and device and electronic equipment

The invention discloses a visual inertial odometer method, a visual inertial odometer device and electronic equipment. In order to solve the problems that in the prior art, feature points cannot be stably and rapidly obtained, a distance measurement sensor is needed and the like, feature points are extracted based on an event camera and a deep learning network, pre-integration is performed based on an inertial measurement unit, and initialization of a motion structure recovery three-dimensional reconstruction method and visual inertia joint initialization are realized; and through a sliding window and tight coupling nonlinear optimization, pose and point cloud information is obtained. The visual odometer has the technical effects of high time resolution, high dynamic range, high response speed, good robustness and low cost through the technical means of robust and rapid feature point detection, visual inertia joint initialization and the like. The method is suitable for the fields of event cameras and compute