Visual positioning method and device, medium and equipment

The invention provides a visual positioning method and device, a medium and equipment, and the method comprises the steps: obtaining a first image shot by a camera, detecting an area where a target object is located in the first image, cutting the area from the first image, and obtaining a second image corresponding to the area; inputting the second image and the key point description information into a key point detection network model to obtain a two-dimensional coordinate and a confidence degree of each key point in the second image in an image coordinate system; determining a corresponding relation expression between the same key points in the object coordinate system and the camera coordinate system; determining a projection relation expression between a three-dimensional coordinate of each key point in an object coordinate system and a two-dimensional coordinate of each key point in an image coordinate system; determining a re-projection error expression corresponding to each key point; determining an o