Semantic and depth information-based positioning method and device, medium and equipment

The invention provides a positioning method and device based on semantic and depth information, a computer readable storage medium and electronic equipment, and relates to the technical field of computer vision. The positioning method comprises the steps of acquiring to-be-positioned image shot for a target scene and depth information of the to-be-positioned image; determining a first pose corresponding to the to-be-positioned image; acquiring a projection image corresponding to the to-be-positioned image from map data of the target scene by utilizing the first pose; and determining a second pose corresponding to the to-be-positioned image based on the semantic information of the to-be-positioned image, the semantic information of the projection image, the depth information of the to-be-positioned image and the depth information of the projection image. According to the invention, the dependence of visual positioning on image features is reduced, the robustness of visual positioning isimproved, and the pose p