The embodiment of the invention discloses a vision localization method and device. In the method, according to a preset camera device, a preset scene is shot to obtain image data; on the one hand, according to first feature points of an image and spatial feature points in a semantic space map, vector information matching is conducted, and a first matching point set is obtained; on the other hand,second feature points, containing second semantic information, in the image data are extracted, the second feature points and the spatial feature points are subjected to semantic information matching,and a second matching point set is obtained; according to the first matching point set and the second matching point set, the target pose information and the target position information of the presetcamera device are obtained. In the method, the texture information and the semantic information of the image are utilized at the same time to extract the feature points, more feature points which aresuccessfully matched with the spatial feature points in the semantic space map can be found in the image data, a more reliable data basis is provided for calculating the target pose information and the target position information of the preset camera device, and the localization precision is higher.