POSITIONING METHOD AND APPARATUS BASED ON LANE LINE AND FEATURE POINT

A positioning method and apparatus based on a lane line and a feature point, which relate to a field of computer technology, in particular to fields of automatic driving, intelligent transportation, computer vision, etc. The method includes: determining a plurality of first real-time measurement residuals according to a plurality of first sensor information of a movable object detected, wherein the first sensor information includes a first inertial measurement unit information, a first lane line feature information and a first non-lane line feature point information, and the first real-time measurement residual includes a first inertial measurement unit measurement residual, a first lane line measurement residual and a first non-lane line measurement residual; updating a state vector of the movable object according to a kinematic model of an inertial measurement unit and the plurality of first real-time measurement residuals; and determining a pose of the movable object at a time instant corresponding to the updated state vector according to a pose vector in the updated state vector.