METHOD AND APPARATUS FOR GENERATING OFFLINE MAP, VEHICLE AND STORAGE MEDIUM

A method and an apparatus for generating an offline map are disclosed. The method includes: obtaining 1st to Nth environmental images sequentially collected by a camera of a vehicle when the vehicle is traveling on a target road section; selecting ith to jth environmental images from the 1st to Nth environmental images, performing a first batch of three-dimensional modeling on the ith to jth environmental images to obtain first posture information of the camera and a first world coordinate; performing a second batch of three-dimensional modeling in parallel on the 1st to (i-1)th environmental images and (j+1)th to Nth environmental images, based on the first posture information and the first world coordinate, to obtain a second world coordinate and to obtain a third world coordinate; and generating an offline map of the target road section according to the world coordinate.