The disclosure relates to a method and device for determining a pose of a robot, the robot, and a readable storage medium, and relates to the technical field of computers. The method provided by the disclosure comprises the following steps of estimating the position and pose of the robot when capturing the current frame image by matching the same feature points and characteristic line segments inthe current frame image and the previous frame image captured by the robot, and referring to the position and pose of the robot when capturing the previous frame image; determining errors caused by the estimation of the position and pose of the robot when capturing the current frame image based on the matching information of the feature points and characteristic line segments in the map in the current frame image, and the estimated position and pose of the robot when capturing the current frame image; and correcting the estimated position and pose of the robot when capturing the current frameimage to determine the position and pose of the robot when capturing the current frame image. The solution of the disclosure improves the SVO algorithm and improves the accuracy of the estimation of the position and pose of the robot.