Positioning method and device, electronic equipment and computer readable storage medium

The invention discloses a positioning method, which comprises the steps of determining a fusion map based on low-level visual features and high-level visual features; extracting low-level visual features of the input image, performing positioning optimization based on the low-level visual features and the fusion map, and determining the number of interior points and the high depth ratio of the interior points; determining a positioning strategy based on the number of the interior points and the interior point height-depth ratio; determining vehicle positioning based on the determined positioning strategy, wherein the interior point height-depth ratio is the ratio of the number of the interior points with the depth larger than the depth threshold value to the total number of the interior points. 本申请披露了一种定位方法，包括：基于低级视觉特征和高级视觉特征，确定融合地图；提取输入图像的低级视觉特征，并基于低级视觉特征和融合地图进行定位优化，确定内点数量和内点高深度比；基于内点数量和内点高深度比，确定定位策略；基于确定的定位策略，确定车辆定位；所述内点高深度比为内点中深度大于深度阈值的个数占内点总数的比值。