Fig. 1. Process of three-dimensional rotation. (a) Process of rotation; (b) three-dimensional rotation

Fig. 2. Process of coordinate transformation

Fig. 3. Calculation process of displacement variation in navigation coordinate system

Fig. 4. Epipolar geometric constraint

Fig. 5. Process of inertial navigation aided image feature matching

Fig. 6. Experimental equipment

Fig. 7. Source images. (a) First image of experimental table; (b) second image of experimental table; (c) first image of laboratory; (d) second image of laboratory; (e) first image of office; (f) second image of office

Fig. 8. Brute-force match results of three sets of images

Fig. 9. Possible areas. (a) Four feature points selected in the first image of experimental table; (b) possible areas corresponding to the feature points in the first image of experimental table; (c) four feature points selected in the first image of laboratory; (d) possible areas corresponding to the feature points in the first image of laboratory; (e) four feature points selected in the first image of office; (f) possible areas corresponding to the feature points in the first image of office

Fig. 10. Match results of three sets of images after adding constraints

Fig. 11. Match results of three sets of images after removing outliers by RANSAC

Table 1. Rotation matrix

Table 2. Translation vector

Table 3. Fundamental matrix

Table 4. Matching results of three sets of images