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Among the existing wireless indoor positioning systems, UWB (ultra-wideband) is one of the most promising solutions. However, the single UWB positioning system is affected by factors such as non-line of sight and multipath, and the navigation accuracy will decrease. In order to make up for the shortcomings of a single UWB positioning system, this paper proposes a scheme based on binocular VO (visual odometer) and UWB sensor fusion. In this paper, the original distance measurement data of UWBdoi:10.3390/s19184044 fatcat:xuvbepymmbhmdoihk2jajpao6a