Positioning method, device and system and storage medium

The embodiment of the invention discloses a positioning method, device and system and a storage medium. A binocular camera is installed on a moving object, a binocular image of the moving object is collected through the binocular camera, the moving object is positioned based on the binocular image and a global laser point cloud map, compared with the prior art, the invention has the advantages that a laser sensor does not need to be installed, the hardware cost can be reduced, and the hardware occupied space is saved; by extracting feature points in the binocular image, the effect of extracting stable features in an environment is achieved; a visual reconstruction point cloud map is constructed, the visual reconstruction point cloud map only comprises feature points, and the feature points in the visual reconstruction point cloud map are matched with laser point cloud in the laser point cloud map, so that the matching efficiency can be improved, the positioning speed of the moving object is improved, and the