The present disclosure discloses an edge-based three-dimensional tracking and registration method and apparatus for augmented reality, and a storage medium. The method includes: obtaining an initial pose of a three-dimensional object in an image; extracting edgelet features of a contour of the three-dimensional object based on the initial pose; dividing the edgelet features into groups, and performing searching on the image to find a matching point corresponding to respective edgelet feature in each group; and calculating a pose of the three-dimensional object based on matching points found in the groups.