A camera localization method includes: obtaining an environment map of a target environment, predicting a location of a camera when shooting a target image according to location information of the camera when shooting a history image before the target image is shot to obtain predicted location information of the camera; filtering out at least one feature point that is currently not observable by the camera in the environment map according to the predicted location information of the camera, location information of each feature point and viewing-angle area information of each feature point in the environment map; and matching the feature point in the target image with remaining feature points in the environment map after the filtering to obtain a feature point correspondence, and determining location information of the camera according to the feature point correspondence.