Visual positioning and navigation device and method thereof

A visual positioning and navigation device, comprising:

• a motion module, configured to drive a robot and acquire current pose information of the robot in real time;
• a camera module comprising an image sensor that captures an environmental image during movement of the robot, wherein the camera module is mounted on top of the robot, and wherein the environment image is a ceiling photo;
• an image processing module, configured to perform feature extraction and feature description for the environmental image captured by the image sensor of the camera module;
• and
• a pose estimation module, configured to build a feature database comprising a plurality of features and compare the feature description of the environmental image to the features in the feature database, calculate a pose correction of the robot, and obtain a corrected robot pose based on the current pose information and the pose correction,
• wherein the motion module is configured to obtain a deflection angle θ of the robot by a gyroscope, and obtain a movement distance d of the robot by a photoelectric pulse counter on a wheel of the robot, wherein the current pose information of the robot is calculated by the equation set:
• Rθ2=Rθ1+θ;
• Rx2=Rx1+d*cos(θ);
• and
• Ry2=Ry1+d*sin(θ), and
• wherein Rθ2 is an angle in a polar coordinate system of the robot in a current pose, Rθ1 is an angle in the polar coordinate system of the robot in a previous pose, Rx2 is an x-component in the polar coordinate system of the robot in the current pose, Rx1 is an x-component in the polar coordinate system of the robot in the previous pose, Ry2 is a y-component in the polar coordinate system of the robot in the current pose, Ry1 is a y-component in the polar coordinate system of the robot in the previous pose.