Lower limb exoskeleton motion mode prediction method and system based on VIO system

The invention relates to a lower limb exoskeleton motion mode prediction method and system based on a VIO system, and the method comprises the steps: estimating the state information of a user according to the input environment information and motion information in the visual field of a depth camera, and constructing a three-dimensional point cloud model diagram; plane information is extracted from a depth map under the current visual angle of a depth camera and mapped to a three-dimensional point cloud model graph to construct terrain information, the terrain where a user is located currently is judged in combination with user state information, the motion mode of the lower limb exoskeleton is accurately predicted, and a switching instruction is sent. The system comprises a visual integrated wearing module, a lower limb sensing module and a VIO system operation module which are respectively used for collecting visual motion data, a gait circulation stage and executing the exoskeleton motion mode prediction m