Back-end optimization method for bias search based on target guidance

The invention relates to a back-end optimization method for bias search based on target guidance. Experiments prove that the method is superior to a traditional violent enumeration matching algorithm in matching quality and matching speed. The invention further provides a corner feature loopback method based on the slope difference, features of the slope difference, the slope of a corner and the slope of two adjacent points of the corner serve as description of one corner, in two observations, the three factors can be successfully matched to serve as a successful loopback mark, and wrong loopback is reduced. And then based on the sparsity of a Sea matrix in a back-end optimization method, performing sparse attitude adjustment (SPA) method optimization, thereby simplifying the back-end nonlinear optimization process and reducing the back-end optimization time. Finally, simulation is carried out through a gazebo platform, and the effectiveness of the method is verified. 本发明涉及一种基于目标引导的偏向搜索的后端优化方法。通过实验论证其在匹配质量及匹配