Marker-combined simultaneous localization and mapping navigation method, device and system

A marker-combined simultaneous localization and mapping navigation system, comprising:

• a located object, configured to locate and build a map in real time in a scene;
• a marker, comprising at least one of pose information, identification information and non-identification graphic information;
• and
• a simultaneous localization and mapping device, comprising:
• an initialization area setting unit, configured to provide an initialization area for a located object, wherein at least one of the initialization area for a located object, a travelling path of the located object, and a docking device for docking with the located object is provided with a marker;
• a located object starting unit, configured to control the located object to perform at least one of following operations:
• starting from the initialization area for a located object, and determining an initial pose of the located object based on the marker;
• a pose updating unit, configured to update a current pose of the located object based on the marker when the located object passes the marker on the travelling path;
• and
• a docking unit, configured to, when the located object docks with the docking device, adjust a relative pose between the located object and the docking device based on the marker.