Camera pose determination method and device

The invention provides a camera pose determination method and device, and the method comprises the steps: determining a point feature matching result and a line feature matching result between a current frame image collected by a camera and a previous frame image, and determining a vanishing point corresponding to the current frame image based on a first line feature corresponding to the current frame image, determining first pose information corresponding to the camera on the basis of the vanishing point and the internal reference of the camera, determining second pose information corresponding to the camera on the basis of the first pose information and the point feature matching result, and optimizing the second pose information on the basis of the constructed cost function, the point feature matching result and the line feature matching result; and obtaining target pose information of the camera. Therefore, the accuracy of camera pose calculation in scenes with weak texture and high robustness requirement