METHODS, APPARATUSES, SYSTEMS, AND STORAGE MEDIA FOR LOADING VISUAL LOCALIZATION MAPS

The present disclosure provides a method, device and system for loading a visual localization map, a storage medium, and a visual localization method. The loading method may include: localizing a current pose; directly predicting, based on the current pose, a set of group numbers to be loaded for the visual localization map, wherein each group number in the set of group numbers to be loaded corresponds to a sub-map file of the visual localization map, wherein the visual localization map includes a master map file and a plurality of sub-map files, wherein the plurality of sub-map files respectively store map data of corresponding groups obtained by grouping the visual localization map based on key frames, and wherein key frame index information for indexing the plurality of sub-map files is stored in the master map file; and loading corresponding sub-map files based on the group numbers in the set of group numbers to be loaded. In the above solution, by predicting the sub-map files to be used and loading the same in advance, the wait time for loading of the sub-map files to be used is eliminated, thereby ensuring the instantaneity of visual localization.