Embodiments of the present disclosure provide a method and apparatus for determining position and orientation of a bucket of an excavator, an electronic device and a computer readable medium. The method may include: acquiring an image of a bucket of an excavator collected by a camera provided on an excavator body, the image of the bucket including a preset marker provided on the bucket; determining position and orientation information of the camera relative to the bucket on the basis of the image of the bucket and pre-acquired three-dimensional feature information of the preset marker; and converting the position and orientation information of the camera relative to the bucket into position and orientation information of the bucket relative to the excavator body.