Aiming at the problem of poor positioning precision of optical flow method

a monocular vision odometer method based on fusion of optical flow and improved orientated binary（ORB） simple descriptor algorithm is designed. Firstly

the optical flow method is used to locate the inter-frame displacement

and the minimum number of feature points per frame is set according to the experience. After the number of tracking feature points are lower than the set threshold

the improved ORB algorithm is used to locate the inter-frame displacement. Finally

the position and attitude of the robot are updated through the cyclic operation of the two. The results show that this method overcomes the shortcomings of poor positioning precision of optical flow method

highlights the advantages of positioning accuracy of improved ORB algorithm

and can provide more accurate positioning output.