Because of the attitude error of camera

the monocular visual odometry exists low precision.But there are few analysis on this problem.Aiming at this problem influence of attitude installation error of camera on precision of monocular visual odometry from the standpoint of qualitative analysis and quantitative simulation.3 groups of experiments is carried out on an straight-and-even road which is 211.377m long.The experimental result conforms to the simulation result.After calibration of installation error of camera attitude

the bent tracks of vehicle is rectified and the maximum ranging error is 0.45 %.The conclusion has guidance value in improving precision of monocular visual odometry.