A method for generating an offline map, comprising: obtaining (S101, S901) a first environmental image to an N th environmental image sequentially collected by a camera of a vehicle when the vehicle is traveling on a target road section, where N is a positive integer; selecting (S102, S902) an i th environmental image to a j th environmental image from the first environmental image to the N th environmental image, where i is a positive integer greater than 1 and less than j, and j is a positive integer less than N; performing (S103, S903) a first batch of three-dimensional modeling on the i th environmental image to the j th environmental image to obtain first posture information of the camera and a first world coordinate corresponding to a first test point in the i th environmental image to the j th environmental image; characterized by performing (S104, S904) a second batch of three-dimensional modeling in parallel on the first environmental image to an (i-1) th environmental image and a (j+1) th environmental image to the N th environmental image, based on the first posture information and the first world coordinate corresponding to the first test point, to obtain a second world coordinate corresponding to a second test point in the first environmental image to the (i-1) th environmental image, and a third world coordinate corresponding to a third test point in the (j+1) th environmental image to the N th environmental image; and generating (S105, S905) an offline map of the target road section according to the first world coordinate, the second world coordinate, and the third world coordinate. obtaining (S101, S901) a first environmental image to an N th environmental image sequentially collected by a camera of a vehicle when the vehicle is traveling on a target road section, where N is a positive integer; selecting (S102, S902) an i th environmental image to a j th environmental image from the first environmental image to the N th environmental image, where i is a positive integer greater than 1 and less than j, and j is a positive integer less than N; performing (S103, S903) a first batch of three-dimensional modeling on the i th environmental image to the j th environmental image to obtain first posture information of the camera and a first world coordinate corresponding to a first test point in the i th environmental image to the j th environmental image; characterized by performing (S104, S904) a second batch of three-dimensional modeling in parallel on the first environmental image to an (i-1) th environmental image and a (j+1) th environmental image to the N th environmental image, based on the first posture information and the first world coordinate corresponding to the first test point, to obtain a second world coordinate corresponding to a second test point in the first environmental image to the (i-1) th environmental image, and a third world coordinate corresponding to a third test point in the (j+1) th environmental image to the N th environmental image; and generating (S105, S905) an offline map of the target road section according to the first world coordinate, the second world coordinate, and the third world coordinate. <EOS>