RS-fusion: a novel virtual reality localization method based on RTK and visual SLAM

Virtual reality technology is a new multidisciplinary integrated technology, in which localization technology is the key technology to determine the user experience, and is the core of VR technology. RTK and visual slam are two common localization technologies, however they are limited by satellite conditions and rely heavily on feature point extraction and matching effects, which will affect the accuracy of localization process. So as to achieve high-precision virtual reality spatial localization, this paper proposed a novel virtual reality localization method called RS-fusion, which combined the RTK carrier phase difference technology and the visual SLAM technology by Kalman fusion. In addition, the gain matrix is used to calculate the spatial displacement state to meet the accuracy requirements of virtual reality and augmented reality localization in indoor and outdoor environment, and to obtain a more matching virtual reality fusion effect and simulation mapping. Experiment results show the robustness of the method and RS-fusion can realize the simultaneous localization of cameras in real space and virtual space.