Pseudolite system (PLS) is able to provide positing solution within the datum associated with GNSS for GNSS challenged environments. However, as a radio-based positioning technology, pseudolites still suffer from signal blocking and multipath effects especially when facing complex environments. Visual odometry can estimate motion using intensity information, providing a complementary information for PLS. Therefore, this chapter briefly introduces the multisensor fusion work of pseudo satellites and camera and describes the general principle of PL-/vision-integrated positioning technology since existing works about vision-/PL-integrated positioning are lacking. Based on these general principles, this chapter designed a tightly coupled PL/vision positioning framework. This chapter also outlines the existing issues in vision-/PL-integrated positioning.