Positioning method and device, electronic equipment, medium and automatic driving equipment

The invention provides a positioning method and device, electronic equipment, a storage medium, a program product and automatic driving equipment, and relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving, the technical field of computer vision positioning and the like. According to the specific implementation scheme, position information of a target object corresponding to a target key frame is determined, wherein the position information of the target key frame and the position information of the target object are collected at the same moment; multiple candidate key frame databases matched with the position information are determined from the multiple key frame databases, each key frame database comprises multiple key frames, each key frame corresponds to the pose information of the target object collected at the same moment, and the pose information comprises the position information; determining a plurality of candidate key frames matched with