The invention provides a visual
ranging-based simultaneous localization and map construction method. The method includes the following steps that: a binocular image is acquired and corrected, so that a
distortion-free binocular image can be obtained;
feature extraction is performed on the
distortion-free binocular image, so that feature point descriptors can be generated;
feature point matching relations of the binocular image are established; the horizontal
parallax of matching feature points is obtained according to the matching relations, and based on the parameters of a binocular
image capture system, real space depth is calculated; the matching results of the feature points of a current frame and feature points in a
world map are calculated; feature points which are wrongly matched with each other are removed, so that feature points which are successfully matched with each other can be obtained; a transform matrix of the coordinates of the feature points which are successfully matched with each other under a world coordinate
system and the three-dimension coordinates of the feature points which are successfully matched with each other under a current reference coordinate
system is calculated, and a
pose change estimated value of the binocular
image capture system relative to an initial position is obtained according to the transform matrix; and the
world map is established and updated. The visual
ranging-based simultaneous localization and map construction method of the invention has low computational complexity,
centimeter-level positioning accuracy and unbiased characteristics of position
estimation.