Method and device for positioning

An electronic device, comprising:

• one or more processors;
• and
• a storage device, configured to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are configured to:
• acquire a visual feature map of a geographic area located by a movable object, the visual feature map comprising a first set of visual features, and the first set of visual features comprising a first visual feature perpendicular to a road surface of the geographic area;
• acquire at least one image captured by a camera coupled to the movable object during a motion of the movable object within the geographic area;
• extract a second set of visual features corresponding to the first set of visual features from the at least one image;
• and
• determine at least one pose of the movable object during the motion, at least based on the visual feature map and the second set of visual features.

A computer readable storage medium, having computer programs stored thereon, wherein when the computer programs are executed by a processor, the processor is configured to execute a method for positioning, the method comprising:

• acquiring a visual feature map of a geographic area located by a movable object, the visual feature map comprising a first set of visual features, and the first set of visual features comprising a first visual feature perpendicular to a road surface of the geographic area;
• acquiring at least one image captured by a camera coupled to the movable object during a motion of the movable object within the geographic area;
• extracting a second set of visual features corresponding to the first set of visual feature features from the at least one image;
• and
• determining at least one pose of the movable object during the motion, at least based on the visual feature map and the second set of visual features.