VISUAL POSITIONING BASED ON A PLURALITY OF IMAGE FRAMES

Disclosed herein is a visual positioning method and apparatus, the method including: acquiring a video captured by an image sensor; determining visual positioning information respectively corresponding to a plurality of key image frames in the video; determining a capture pose transformation relationship between each of the plurality of key image frames according to inertial navigation information of the image sensor recorded when taking the video; performing, according to the visual positioning information corresponding to each of the plurality of key image frames, graph optimization processing on the visual positioning information corresponding to each of the plurality of key image frames by using the capture pose transformation relationship between each of the plurality of key image frames as an edge constraint; and determining, according to a result of the graph optimization processing, a visual positioning result of the image sensor when taking the video.