A kind of visual odometry calculates method and apparatus

An embodiment of the present invention provides a kind of visual odometry to calculate method and apparatus, includes according to the method for the embodiment of the present invention：Detect the characteristic point of two field picture in video image；The characteristic point of adjacent two frame in the video image is matched, obtain Feature Points Matching pair, for calculating the movement of object, wherein, the characteristic point is adjusted according to the first relevant parameter trained before the matching, is matched using the characteristic point after adjusting, obtain the Feature Points Matching pair, and/or after the matching according to the second relevant parameter trained to the Feature Points Matching to being adjusted, obtain the Feature Points Matching pair after adjusting.