Abstract
RGB-D camera can not only collect colour pictures, but also collect the distance between each pixel and the camera, so it can be used as a sensor of visual slam to solve the problem of precise positioning without GPS signal, reduce the calculation of camera pose estimation algorithm, and improve the real-time and accuracy of camera pose algorithm. Based on the vision slam theory of RGB-D camera, three methods of pose estimation based on feature points are implemented, which are the pole constraint method, the PnP method and the ICP method. Based on the experimental results, the polar constraint method, the PnP method and the ICP method are compared and analysed from two aspects of accuracy and real-time, and the advantages and disadvantages of each method are summed up, which is helpful for the selection of algorithm in the camera positioning process under different conditions to optimize the positioning effect.
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