Pose estimation method and related device

A pose estimation method and device are used for obtaining a more accurate pose estimation result. The method comprises: acquiring a first event image and a first target image (10101), the first event image being aligned with the first target image in time sequence, the first target image comprising an RGB image or a depth image, the first event image comprising an image representing a motion trajectory when a target object moves within a detection range of a motion sensor; determining an integration time of the first event image (10102); if the integration time is less than a first threshold, determining that pose estimation is not performed through the first target image (10103); pose estimation is performed from the first event image (10104). 一种位姿估计方法以及装置，用于得到更精确的位姿估计结果。该方法包括：获取第一事件图像和第一目标图像(10101)，第一事件图像与第一目标图像时序对齐，第一目标图像包括RGB图像或深度图像，第一事件图像包括表示目标对象在运动传感器的检测范围内产生运动时的运动轨迹的图像；确定第一事件图像的积分时间(10102)；若积分时间小于第一阈值，则确定不通过第一目标图像来执行位姿估计(10103)；根据第一事件图像执行位姿估计(10104)。