Sweeper pose determination method and device, computer equipment and storage medium

The invention relates to the field of sweepers, and provides a sweeper pose determination method and device, computer equipment and a storage medium, a reference pose is obtained through calculation, a current feature point on a current image determines a reference position on a target image according to the reference pose, and then a first matching area is determined; and each current feature point is subjected to feature matching in the first matching area corresponding to the current feature point, so that interference of similar feature points is reduced, feature matching accuracy is improved, and pose determination accuracy is further improved. 本发明涉及扫地机领域，提供了一种扫地机位姿确定方法、装置、计算机设备和存储介质，本发明计算得到一个参考位姿，当前图像上的当前特征点根据参考位姿在目标图像上确定参考位置，进而确定一个第一匹配区域，每个当前特征点在与其对应的第一匹配区域中进行特征匹配，减少相似特征点的干扰，提高特征匹配的准确性，进而提高位姿确定的准确性。