Positioning method and device

The invention relates to the technical field of positioning, in particular to a positioning method and equipment. The method comprises the following steps: determining a two-dimensional straight line segment and a visible point of each frame of image collected by a camera, wherein the visible point comprises end points of the two-dimensional straight line segment and inner points between the end points; fitting a three-dimensional straight line according to the two-dimensional straight line segments and determining collinear constraints of the two-dimensional straight line segments; constructing a cost objective function according to the luminosity error of the visible point of each frame of image, the luminosity error of the two-dimensional straight line segment of each frame of image and the collinear constraint; and minimizing the cost objective function to determine a pose parameter of the camera. According to the direct visual odometer scheme based on the point and the line, the photometric error about t