Provided are a method and apparatus for determining pose information of a robot, a device and a medium. The method includes: fitting a target curve according to a motion trajectory of an image module relative to a target label when the robot rotates; determining a coordinate offset of the image module relative to a body of the robot according to the target curve, and determining a relative distance between the image module and the target label according to the image module; and determining the pose information of the robot according to the coordinate offset and the relative distance.