Slam positioning method and apparatus based on timestamp correction, device and storage medium

A terminal device, comprising a processor and a memory, wherein the memory is configured to store a computer program;

• and the processor is configured to call and execute the computer program stored in the memory, to perform a SLAM positioning method based on timestamp correction, wherein the terminal device further comprises a camera and an inertial measurement unit (IMU), and the method comprises:
• acquiring a time compensation value, an image observation result and a system state of each sub-window in a current sliding window, wherein the current sliding window comprises N sub-windows, N is greater than or equal to 2, the system state comprises an IMU position and an IMU posture, and the image observation result comprises an observation coordinate value of a landmark point captured by the camera at a system time of the sub-window;
• constructing a SLAM model based on time compensation values, the image observation results and the system states of the sub-windows in the current sliding window, wherein a camera system time corresponding to the system time ti of an i-th sub-window in the SLAM mode is ti−tdi+td, wherein tdi represents the time compensation value used to construct the i-th sub-window, td represents a time compensation value to be estimated, and the time compensation value is a time deviation between a time system of the camera and a time system of the IMU;
• and
• solving the SLAM model to obtain a parameter to be estimated, wherein the parameter to be estimated comprises:
• the system state and the time compensation value to be estimated of each sub-window in the current sliding window.

A non-transitory computer-readable storage medium, comprising a computer program stored thereon, wherein the computer program is configured to cause a computer to perform a SLAM positioning method based on timestamp correction, wherein the method is applied to a terminal device comprising a camera and an inertial measurement unit (IMU), and the method comprises:

• acquiring a time compensation value, an image observation result and a system state of each sub-window in a current sliding window, wherein the current sliding window comprises N sub-windows, N is greater than or equal to 2, the system state comprises an IMU position and an IMU posture, and the image observation result comprises an observation coordinate value of a landmark point captured by the camera at a system time of the sub-window;
• constructing a SLAM model based on time compensation values, the image observation results and the system states of the sub-windows in the current sliding window, wherein a camera system time corresponding to system time ti of an i-th sub-window in the SLAM mode is ti−tdi+td, wherein tdi represents the time compensation value used to construct the i-th sub-window, td represents a time compensation value to be estimated, and the time compensation value is a time deviation between a time system of the camera and a time system of the IMU;
• and
• solving the SLAM model to obtain a parameter to be estimated, wherein the parameter to be estimated comprises:
• the system state and the time compensation value to be estimated of each sub-window in the current sliding window.