Motion estimation method based on image features and three-dimensional information of three-dimensional visual system

The invention discloses a motion estimation method based on image features and three-dimensional information of a three-dimensional visual system. The method includes the first step of obtaining two-dimensional image information and space three-dimensional information corresponding to two-dimensional image pixels in real time on the basis of the three-dimensional visual system, the second step of controlling collection intervals between adjacent frames through the adoption of an adjacent frame sampling interval self-adaptive regulation method and automatically regulating the sampling intervals of the t+1 moment relative to the t moment according to the dot pair number of the effective matching image features between the frame at the t-1moment and the frame at the t moment, and the third step of synthesizing two-dimensional scene image features and three-dimensional point cloud information and carrying out three-dimensional motion estimation according to the matching point pair number of the current two-dimensional image features of the adjacent frames to obtain high-precision three-dimensional motion estimation. Through the method, on the basis of satisfying accuracy and reliability of the three-dimensional estimation, the calculated amount is effectively reduced, and the method has the advantages of being less in calculated amount, small in limitation to an application scene and the like.