月面巡视器的定位是巡视器开展月面科学考察工作的基础,是一项关键技术.本文提出了一种基于计算机视觉的定位方法,将SIFT(scale-invariant feature transform)匹配、相关系数匹配、最小二乘匹配和光束法平差等多项技术融合,实现了相邻站间月面巡视器的导航定位.在实验室构建立体视觉导航系统对本文的方法进行可行性和精度测试,结果表明视觉定位相对精度将优于4%,并成功应用于玉兔号巡视器定位. The positioning of lunar patrol is a key technology for patrol lunar exploration, and a positioning method based on computer vision is proposed in this paper. The scale-invariant feature transform (SIFT) is matched and the correlation coefficient is matched , Least squares matching and beam method adjustment and so on, and realizes the navigation and positioning of the lunar rover between adjacent stations.The feasibility and accuracy of the method in this paper are tested by constructing the stereo vision navigation system in the laboratory. The results Show that the relative accuracy of visual positioning will be better than 4%, and successfully applied to Yu Rabbit Tour Positioning.