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

The present disclosure provides methods, apparatuses, and storage media for storing and loading visual localization maps. The methods for storing the visual localization maps may include acquiring a visual localization map; extracting key frame abstract information of each key frame from the visual localization map; grouping the key frame abstract information of all key frames of the visual localization map; for each group, generating and storing a sub-map-file of the group using the key frame abstract information of the group; generating key frame space index information based on the key frame abstract information of all groups; and generating and storing a master map file according to the key frame space index information for indexing the sub-map-file. By adopting the above solution, it is easy to flexibly load and manage the visual localization map according to the application requirements, thereby greatly improving the scalability of the visual localization map, the loading efficiency in the application and the space efficiency during the execution.