A method includes: acquiring a second initial pose according to obstacle region information and geometric scale information of an indoor architectural structure drawing and a first initial pose; acquiring a first feature point location, a locating error and a first pose through a VSLAM algorithm during movement; acquiring a second pose according to the first pose, first initial pose and second initial pose; acquiring a distance to an obstacle according to the second pose, indoor architectural structure drawing and a ray casting algorithm; acquiring a third pose according to the distance, first feature point location, locating error, first pose and a filtering algorithm; acquiring a second feature point location according to the third pose and VSLAM algorithm; and creating an indoor environment map according to the second feature point location and a key frame set.