The invention discloses a
machine vision and inertial navigation fusion-based
mobile robot motion attitude
estimation method which comprises the following steps of: synchronously acquiring a
mobile robot binocular
camera image and triaxial inertial navigation data; distilling front / back frame image characteristics and matching
estimation motion attitude; computing a
pitch angle and a roll angle by inertial navigation; building a
kalman filter model to estimate to fuse vision and inertial navigation attitude; adaptively adjusting a filter parameter according to
estimation variance; and carrying out accumulated
dead reckoning of attitude correction. According to the method, a real-time expanding
kalman filter attitude estimation model is provided, the combination of inertial navigation and gravity acceleration direction is taken as supplement, three-direction attitude estimation of a visual
speedometer is decoupled, and the accumulated error of the attitude estimation is corrected; and the filter parameter is adjusted by
fuzzy logic according to motion state, the self-adaptive filtering estimation is realized, the influence of acceleration
noise is reduced, and the positioning precision and robustness of the visual
speedometer is effectively improved.