METHOD AND APPARATUS FOR CREATING MAP AND POSITIONING MOVING ENTITY

Exemplary embodiments of the present disclosure provide a method, apparatus and computer readable storage medium for creating a map and positioning a moving entity. A method for creating a map includes acquiring an image acquired when an acquisition entity is moving and location data and point cloud data associated with the image, the location data indicating a location where the acquisition entity is located when the image is acquired, the point cloud data indicating three-dimensional information of the image. The method further includes generating a first element in a global feature layer of the map based on the image and the location data. The method further includes generating a second element in a local feature layer of the map based on the image and the point cloud data, the first element corresponding to the second element.