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In the analysis of the features and properties of camera based on the data, constructs the projection model and error model positioning calculation model, expanded beam method traditional adjustment model is only for image observations are optimized, constructed model with two or three dimensional positioning information integration RGB-D camera. The design experiments verified the accuracy of detection and matching, and combined with the depth measurement characteristics, we constructed two weight matrixes of observation information, thus improving the mathematical model of the whole location calculation.

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