Visual positioning method and device, self-moving equipment and storage medium

The embodiment of the invention provides a visual positioning method and device, self-moving equipment and a storage medium, and relates to the technical field of computers. The method comprises the following steps: acquiring first image information of a target object acquired by image acquisition equipment, wherein the target object is provided with a target identifier with visual distinguishability; first key point position data of a target identifier in the first image information is identified through a key point detection model, the key point detection model has the capability of identifying the key point position data of at least one identifier, and the target identifier is one of the at least one identifier; and according to the first key point position data of the target identifier, determining pose information of the target object or the image acquisition equipment to complete visual positioning. The pose information of the target object or the image acquisition equipment can be automatically determi