Indoor robot accurate positioning method based on multiple camera modules

The invention discloses an indoor robot accurate positioning method based on a multi-camera module, and the method comprises the steps: pasting coding mark points on a wall in a closed detection room, photographing a part through a 3D sensor, obtaining a local point cloud, photographing the wall through a positioning camera module, obtaining the spatial position of the positioning camera module in the room, and carrying out the positioning of the positioning camera module; and the local point cloud is converted to a scene coordinate system according to a pre-calibrated relative position relation between the 3D sensor and the positioning camera module, so that local point cloud splicing is realized. According to the method, the use of a precise movement mechanism is effectively avoided, manual work is not needed in the process, due to the existence of a plurality of cameras, shielding is not likely to happen, the flexibility is high, meanwhile, the system conducts automatic and rapid calibration, and the three