The invention discloses a repositioning method and a repositioning device in a centralized cooperative SlAM, which are applied to a centralized cooperative SLAM system comprising a server and at leastone client, and the method comprises the following steps: acquiring a to-be-positioned key frame in the current client under the condition that the current client loses positioning, positioning the to-be-positioned key frame based on each key frame in the key frame database of the current client; and under the condition of positioning failure, judging whether the current client has a combined mapin the target map or not, if so, selecting a preset number of key frames in the combined map, and sending the preset number of key frames to the current client, so that the current client performs repositioning based on the preset number of key frames to be positioned. In the above process, after positioning based on the client fails, the preset number of key frames are continuously selected fromthe server and sent to the client, so that the client performs repositioning based on the preset number of key frames, and the probability of successful positioning is improved.