On-line calibration method for vehicle-mounted camera based on visual odometer

The invention relates to a vehicle-mounted camera on-line calibration method based on a visual odometer, which comprises the following steps: step 1, after self-calibration of a vehicle-mounted camera is started, collecting a current frame image in real time, extracting feature points in the image, and when the number of the feature points in the image reaches a preset value, carrying out the next step; otherwise, continuing to collect the image; step 2, matching the feature points in the current frame image with the feature points of the previous frame image, estimating the visual odometer information of the current frame image, and entering the next step if the visual odometer information of the current frame image meets a set condition; otherwise, returning to the step 1, and continuing image acquisition; step 3, estimating the relation between the camera and the vehicle body pose based on a speedometer, and obtaining external parameter information of the camera; and step 4, judging whether pose fusion con