Aiming to address errors in the estimation of the position and attitude of an unmanned vessel. especially during vibration. where the rapid loss of feature point information hinders continuous attitude estimation and global trajectory mapping. this paper improves the monocular ORB-SLAM framework based on the characteristics of the marine environment. https://www.roneverhart.com/2010-FORD-FUSION-Alternator-Assembly-2-5l-125K-Miles-FWD-Automatic-Trans-G/