Methods, apparatuses, systems, and storage media for storing and loading visual localization maps

A system for storing and loading visual localization maps, comprising:

• a memory;
• and
• a processor to:
• acquire a visual localization map;
• extract key frame abstract information from each key frame of the visual localization map, wherein the key frame abstract information comprises unique identification numbers and three-dimensional world coordinates of the key frames;
• group the key frame abstract information of all key frames of the visual localization map into a plurality of groups;
• generate and store a plurality of sub-map-files by generating and storing, for each of the plurality of groups, a sub-map-file of the group using the key frame abstract information of the group;
• generate key frame space index information based on the key frame abstract information of the plurality of groups;
• generate and store a master map file according to the key frame space index information for indexing the sub-map-files;
• and
• construct, according to the master map file and the sub-map-files, a local map for automatic localization of a vehicle, wherein to group the key frame abstract information all key frames of the visual localization map into the plurality of groups, the processor is further to:
• determine, according to the number of all key frames of the visual localization map, a number N representing the number of the plurality of groups;
• perform spatial clustering on the key frame abstract information of all key frames in the visual localization map according to the three-dimensional world coordinates of the key frames to obtain N clusters;
• and
• group the key frame abstract information of all key frames in the visual localization map according to the N clusters.

A non-transitory computer-readable storage medium including instructions that, when accessed by a processor, cause the processor to:

• acquire a visual localization map;
• extract key frame abstract information from each key frame of the visual localization map, wherein the key frame abstract information comprises unique identification numbers and three-dimensional world coordinates of the key frames;
• group the key frame abstract information of all key frames of the visual localization map into a plurality of groups;
• generate and store a plurality of sub-map-files by generating and storing, for each of the plurality of groups, a sub-map-file using the key frame abstract information of the group;
• generate key frame space index information based on the key frame abstract information of the plurality of groups;
• generate and store a master map file according to the key frame space index information for indexing the sub-map-file;
• and
• construct, according to the master map file and the sub-map-files, a local map for automatic localization of a vehicle, wherein to group the key frame abstract information all key frames of the visual localization map into the plurality of groups, the processor is further to:
• determine, according to the number of all key frames of the visual localization map, a number N representing the number of the plurality of groups;
• perform spatial clustering on the key frame abstract information of all key frames in the visual localization map according to the three-dimensional world coordinates of the key frames to obtain N clusters;
• and
• group the key frame abstract information of all key frames in the visual localization map according to the N clusters.