Aiming at the problem of precise positioning of monocular vision odometer

a method of feature point matching specifically applied to monocular vision odometer is proposed. Firstly

DELAUNAY triangulation is performed on the feature points extracted by the FAST algorithm to obtain the position relationship of the feature points. Afterwards

the matching points are obtained by using LK algorithm

and mis-matching candidate points are judged according to the position relation. Then

the SIFT descriptor is calculated for the candidate points and the mis-matching points are eliminated according to similarities. Finally

estimate basic matrixes for obtained matching pair

obtain the pose based on the scale information. Experimental results show that the algorithm can improve the accuracy of matching points and improve the precision of monocular vision odometer.