Abstract: A method for aligning coordinate systems includes: in response to that a second terminal triggers alignment of the coordinate systems, obtaining, by the second terminal, map information stored in a cloud or obtaining, by the second terminal, the map information from a first terminal; and transforming, by the second terminal, a second coordinate system of the second terminal into an initial coordinate system corresponding to the map information stored in the cloud or obtained from the first terminal, or transforming, by the second terminal, the initial coordinate system corresponding to the map information stored in the cloud or obtained from the first terminal into the second coordinate system of the second terminal; herein the initial coordinate system is used for defining a positional relationship between the first terminal and the second terminal when the map information is in a sharing state.

Abstract: Related are a localization method and apparatus based on a shared map, an electronic device and a storage medium. The method includes that: from global map data, including at least one key frame, of an image collected by a first terminal, local map data associated with the key frame are extracted; a present frame in an image collected by a second terminal is acquired; and feature matching is performed on the present frame and the local map data, and a localization result for the present frame is obtained according to a matching result. With the adoption of the present disclosure, multiple moving terminals can be accurately localized to each other in the shared map.