Abstract: Visual localization method and related apparatus are disclosed. In the method, a first candidate image sequence is determined from image library, the image library being configured to construct electronic map, image frames in the first candidate image sequence being sequentially arranged according to degrees of matching with first image, and the first image being an image collected by a camera; an order of the image frames in the first candidate image sequence is adjusted according to target window to obtain second candidate image sequence, the target window being multiple successive image frames including target image frame and determined from the image library, the target image frame being an image matching with second image, which is collected by the camera before the first image is collected, in the image library; and target posture of the camera when the first image is collected is determined according to the second candidate image sequence.