Positioning and mapping method and electronic equipment

The invention provides a positioning and map building method and electronic equipment. The method comprises the following steps: acquiring an image of a current frame; and based on the image of the current frame, determining a device pose corresponding to the current frame and a current global sparse map. According to the method and the electronic equipment, the accuracy of the determined equipment pose and map can be improved, and the robustness is achieved. 提供了一种定位与地图构建的方法和电子设备。所述方法可包括：获取当前帧的图像；基于所述当前帧的图像，确定与所述当前帧对应的设备位姿以及当前的全局稀疏地图。本公开的方法和电子设备，可提高确定的设备位姿和地图的准确性，并且具有鲁棒性。