Positioning method, device and system based on vehicle-mounted information

The invention discloses a positioning method, device and system based on vehicle-mounted information, and belongs to the technical field of vehicle detection and control, and the method comprises the steps: obtaining the original image information of a vehicle around-view camera, carrying out the calculation of the displacement of the camera through the rotation comparison of feature points in the original image information, and obtaining the displacement of the camera; accumulating integral to obtain the displacement of the camera in the environment, and obtaining the pose information of the vehicle in the environment as the vehicle displacement of vehicle visual judgment; positioning the position and the posture of the vehicle by using parameter signals on the vehicle to obtain displacement information judged by the physical information of the vehicle; vehicle displacement judged by vehicle vision and displacement information judged by vehicle physical information are fused and compared with an original poi