VISUAL POSITIONING METHOD AND DEVICE

A visual localization method and apparatus are provided. The method includes: obtaining a captured first image, determining a first pose based on the first image and an aerial model, determining whether a ground model corresponding to the first pose exists in an aerial-ground model, andwhen the ground model corresponding to the first pose exists, determining a second pose based on the ground model. The aerial-ground model includes the aerial model and the ground model mapped to the aerial model, a coordinate system of the ground model is the same as a coordinate system of the aerial model, and localization accuracy of the second pose is higher than localization accuracy of the first pose. Performing ground model-based fine visual localization can improve accuracy and a success rate of localization.