The invention discloses a secondary
loopback detection positioning method based on IMU and vision in a similar environment. The secondary
loopback detection positioning method comprises the followingsteps of 1, calibrating and
synchronizing parameters of a binocular camera and IMU, 2, image
feature extraction and
image matching, 3,
pose estimation and movement track formation, 4,
loopback detection, 5, a
secondary loop-back detection mechanism, and 6, repositioning. According to the method, coarse comparison constraint can be performed on the current
image frame pose through the IMU
pose information, that is, direction consistency constraint pre-judgment is performed by comparing the IMU current position direction with the primary closed-loop image position direction, surrounding scene similarity is prevented, a
closed loop can be judged according to the image similarity, according to the problem that the current actual position of the IMU cannot be the same position, wrong loopback is caused, positioning errors caused by similar images in a similar environment are prevented through direction pre-judgment of the IMU, the updated high-precision pose after repositioning is used forcorrecting the IMU accumulated
drift error, and the robustness of the secondary loopback detection positioning method is improved.