obtaining a first homography matrix between a first target plane and a second target plane according to a target matching algorithm for the first target plane and the second target plane, the first target plane being a target plane of a current frame image, the second target plane being a target plane of a first frame image;

calculating a second homography matrix between the first target plane and the second target plane according to a target displacement and an attitude, the attitude indicating a direction vector of a current orientation of an inertial measurement unit (IMU) coordinate system relative to an original orientation of the IMU coordinate system, the target displacement being a displacement of a camera coordinate system of the current frame image relative to a camera coordinate system of the first frame image;

using the first homography matrix and the second homography matrix as homography matrices between the first target plane and the second target plane;

updating the target displacement according to the homography matrices and the attitude;

obtaining a target displacement according to the homography matrix and an attitude, the attitude indicating a direction vector of a current orientation of an inertial measurement unit (IMU) coordinate system relative to an original orientation of the IMU coordinate system, the target displacement being a displacement of a camera coordinate system of the current frame image relative to a camera coordinate system of the first frame image;

obtaining a target pose according to the target displacement, the target pose including a position and an attitude of the camera coordinate system of the current frame image in a world coordinate system; and

displaying an AR image in the current frame image according to the target pose.