METHOD AND DEVICE FOR OBTAINING LOCALIZATION INFORMATION

A method and device for obtaining localization information and a medium are provided. The method includes: obtaining image information and related information of the image information, wherein the related information includes a depth map, a point cloud map, relocation postures and relocation variance after relocation; obtaining three-dimensional coordinates of spatial obstacle points based on the depth map; obtaining target postures and environmental three-dimensional coordinates corresponding to each of the target postures based on the relocation postures, the relocation variance and the point cloud map; scanning and matching the three-dimensional coordinates of the spatial obstacle points with the environmental three-dimensional coordinates to obtain matching result information; and obtaining localization information based on the relocation postures and the relocation variance when the matching result information satisfies a predetermined condition. The method solves the problem of weak localization robustness caused by high dependence of the relocation module on the visual algorithm in the existing visual localization system, and improves the localization robustness.