GPS-based binocular fusion positioning method and device

The invention discloses a GPS-based binocular fusion positioning method and a GPS-based binocular fusion positioning device, which relate to a computer vision technology, in particular to a real-time object positioning method, and is suitable for self-positioning of various objects, such as self-positioning of an unmanned aerial vehicle or a robot. The GPS-based binocular fusion positioning method comprises the steps of: step 1, acquiring a three-dimensional map of a space in which an object to be positioned locates; step 2, acquiring longitude and latitude of the object to be positioned, so as to obtain a coarse positioning range of the object to be positioned in the three-dimensional map according to the longitude and latitude of the object to be positioned; step 3, and using a binocular measurement visual system arranged on the object to be positioned for shooting an image of reference objects surrounding the object to be positioned, performing three-dimensional reconstruction on the reference objects according to the image shot by the binocular measurement visual system to obtain a three-dimensional graph of the reference objects, looking for a region matched with the three-dimensional graph in the coarse positioning range, and further determining a precise positioning region of the reference objects in the three-dimensional map.