A computer-implemented method, comprising: causing a robot (201; 400) to traverse a work area according to a predetermined rule, and building an initial map according to a scene image captured by the robot (201; 400) in real time in the process of traverse, wherein the initial map comprises a first map including a mapping of the work area and a map coordinate system, and a second map including a scene feature extracted based on the captured scene image, a geometric quantity of the scene feature and the scene image from which the scene feature is extracted, which are stored in a scene database in association with the pose of the robot (201; 400) when capturing the scene image, the pose including a coordinate and an orientation of the robot (201; 400) in the first map, and the scene feature including a feature of a feature object in the scene and/or a feature of the scene image, characterized in that the method further comprises: matching an estimated pose in the scene database according to an image captured by the robot (201; 400) in real time; determining an accurate pose of the robot (201; 400) according to the image captured by the robot (201; 400) in real time and the estimated pose; determining an updated scene image, an updated scene feature and a geometric quantity corresponding to the updated scene feature according to the accurate pose, the scene feature matching the estimated pose, the geometric quantity corresponding to the scene feature and the image captured by the robot (201; 400) in real time; and updating the scene database according to the accurate pose, the updated scene image, the updated scene feature, and the geometric quantity corresponding to the updated scene feature. causing a robot (201; 400) to traverse a work area according to a predetermined rule, and building an initial map according to a scene image captured by the robot (201; 400) in real time in the process of traverse, wherein the initial map comprises a first map including a mapping of the work area and a map coordinate system, and a second map including a scene feature extracted based on the captured scene image, a geometric quantity of the scene feature and the scene image from which the scene feature is extracted, which are stored in a scene database in association with the pose of the robot (201; 400) when capturing the scene image, the pose including a coordinate and an orientation of the robot (201; 400) in the first map, and the scene feature including a feature of a feature object in the scene and/or a feature of the scene image, characterized in that the method further comprises: matching an estimated pose in the scene database according to an image captured by the robot (201; 400) in real time; determining an accurate pose of the robot (201; 400) according to the image captured by the robot (201; 400) in real time and the estimated pose; determining an updated scene image, an updated scene feature and a geometric quantity corresponding to the updated scene feature according to the accurate pose, the scene feature matching the estimated pose, the geometric quantity corresponding to the scene feature and the image captured by the robot (201; 400) in real time; and updating the scene database according to the accurate pose, the updated scene image, the updated scene feature, and the geometric quantity corresponding to the updated scene feature. matching an estimated pose in the scene database according to an image captured by the robot (201; 400) in real time; determining an accurate pose of the robot (201; 400) according to the image captured by the robot (201; 400) in real time and the estimated pose; determining an updated scene image, an updated scene feature and a geometric quantity corresponding to the updated scene feature according to the accurate pose, the scene feature matching the estimated pose, the geometric quantity corresponding to the scene feature and the image captured by the robot (201; 400) in real time; and updating the scene database according to the accurate pose, the updated scene image, the updated scene feature, and the geometric quantity corresponding to the updated scene feature.