Double unmanned aerial vehicle cooperative positioning method based on binocular SLAM and inter-vehicle loopback optimization

The invention discloses a double unmanned aerial vehicle cooperative positioning method based on binocular SLAM and inter-vehicle loopback optimization. The method comprises the following steps: obtaining a first unmanned aerial vehicle left eye feature point and a second unmanned aerial vehicle left eye feature point; a first unmanned aerial vehicle left eye matching point and a second unmanned aerial vehicle left eye matching point which are successfully matched are obtained; obtaining a first unmanned aerial vehicle right eye matching point matched with the first unmanned aerial vehicle left eye matching point according to the first unmanned aerial vehicle left eye matching point; obtaining a three-dimensional road sign point of the first unmanned aerial vehicle; calculating a relative pose of the second unmanned aerial vehicle relative to the first unmanned aerial vehicle; when the first unmanned aerial vehicle and the second unmanned aerial vehicle walk, the pose of the first unmanned aerial vehicle and