METHOD, APPARATUS AND STORAGE MEDIUM FOR POSITIONING OBJECT

The disclosure provides a method for positioning an object, comprising: obtaining a map (1021) related to a region (1011) where the object is located, the map including a plurality of map layers having different height information; determining, based on the map and current point cloud data (1022) related to the object, an estimated position of the object, an estimated height corresponding to the estimated position and an estimated probability that the object is located at the estimated position with an estimated posture; and determining, at least based on the estimated position, the estimated height and the estimated probability, positioning information for the object, the positioning information indicating at least one of a current position of the object, a current height of the object and a current posture of the object. Satellite view (1010) shows a complex overpass scene. Visualization effect image (1020) has a multi-layer map (1021) for region (1011) where the object is located, and a visualization effect image of the current point cloud data (1022). The map (1021) and the current point cloud data (1022) are inputted into a histogram filter (1030), and then processed to obtain a matched result. Visualization effect image (1040) is a combination of (i) a reflection information matching histogram (1031) for a set of map layers (1033), and (ii) a height information matching histogram (1032) for the set of map layers (1034). A visualized positioning result (1050) is obtained which reflects the positioning information of the object.