Visual inertia wheel speed odometer system installation error optimization model construction method and device and optimization method and device

The invention discloses a visual inertia wheel speed odometer system installation error optimization model construction method and device and an optimization method and device, and relates to the technical field of vehicle-mounted visual-inertia-wheel speed odometer systems. In order to solve the technical problem that the existing self-calibration method is difficult to realize accurate estimation of spatial parameters among sensors, the invention provides a visual inertia wheel speed odometer system installation error optimization model construction method, which comprises the following steps of: constructing a visual inertia wheel speed odometer system installation error optimization model according to position and attitude deviation between an IMU (Inertial Measurement Unit) and an odometer, time delay and a scale factor of the odometer; a step of obtaining a continuous time formula of IMU-speedometer pre-integration and obtaining a pre-integration residual error model; a step of obtaining a visual reproj