The invention discloses a positioning and orientation method based on multi-aperture imaging, and the method employs at least three cameras to form a multi-aperture imaging
system, and all cameras have no common imaging area, which is equivalent to large-view-field and high-resolution
joint imaging. Establishing a two-dimensional to three-dimensional corresponding set; performing equivalent
monocular pose estimation based on pre-calibrated camera internal parameters and inter-camera external parameters, and solving a PnP problem to obtain the position and
pose initial values of the multi-aperture imaging
system; and constructing an observation model based on the multi-aperture imaging relationship, and optimizing the position and attitude initial values of the multi-aperture imaging
system to obtain the high-precision position and attitude of the multi-aperture imaging system. The method is applied to the technical field of
photogrammetry and
computer vision, multi-aperture imaging is equivalent to ultra-large-view-field-range ultra-high-resolution imaging, the observation model based on the multi-aperture imaging relation is established, high-precision positions and postures are obtained through optimization, hardware limitation is broken through, and extremely-high-precision positioning and orientation are achieved.