The invention discloses a method, device and system for determining a pose, and belongs to the technical field of computer vision. The method comprises the steps that a to-be-queried image sent by a terminal and N text fields contained in the to-be-queried image are received, and N is larger than or equal to 1; the to-be-queried image is obtained based on an image collected by the terminal at a first position, wherein the scene of the first position comprises a scene in the to-be-queried image; the method further includes determining candidate reference images according to the N text fields based on a pre-stored corresponding relationship between reference images and the text fields; determining an initial pose of the terminal at the first position based on the to-be-queried image and the candidate reference image; and sending the initial pose to the terminal. By adopting the invention, even if the interference of more similar images exists, the accuracy of the candidate reference image queried based on the text field is higher, and the initial pose of the terminal obtained by performing pose solving processing based on the candidate reference image with higher accuracy is more accurate.
Method, device and system for determining pose