Positioning methods, devices, electronic equipment and storage media

Abstract

This disclosure relates to a positioning method, apparatus, electronic device, and storage medium, comprising: extracting features from a camera image frame to obtain multiple target feature points in the camera image frame; determining the three-dimensional coordinates of each target feature point, and determining the initial coordinates of the camera position for acquiring the camera image frame based on the three-dimensional coordinates of each target feature point and the depth value corresponding to the target feature point and the camera image frame; and determining the target positioning result of the camera position based on the normal distribution information of the feature points corresponding to each grid in the NDT point cloud map and the initial coordinates. By determining the target positioning result of the camera position based on the NDT point cloud map and the initial coordinates after determining the initial coordinates of the camera position, the influence of environmental factors can be reduced, and the success rate and versatility of positioning can be improved.

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