Unmanned vehicle positioning method under dark light condition

The invention discloses an unmanned vehicle positioning method under a dark light condition, and the method comprises the steps: collecting the external environment information of an unmanned vehicle, and obtaining the corresponding external image information; according to the external image information, a Shii-Tomasi angular point in the image is extracted, and the Shii-Tomasi angular point is a pixel-level angular point; performing sub-pixel processing on the extracted pixel-level angular points to obtain sub-pixel angular points; and positioning the unmanned vehicle in a dark scene through the sub-pixel-level angular points. The method provided by the invention is suitable for the positioning of the unmanned vehicle in a dark scene, and overcomes the defect of insufficient positioning precision of a traditional algorithm in the dark scene; compared with a traditional algorithm, forward and backward inspection and reverse optical flow are added, and the precision of optical flow tracking is improved; and hi