This application relates to the field of visual navigation technology, and discloses a localization method, apparatus, robot and computer storage medium. The localization method is applied to a robot having an autonomous location and navigation function. The localization method includes: determining that localization through an image of surrounding environment fails in a process of driving to a preset distance, and controlling the robot to decelerate and perform localization through an image of surrounding environment in a process of deceleration until the localization succeeds. The localization method enables the robot to reasonably adjust its running velocity in accordance with the environment during driving, thereby accurately localizing the location where the robot is located.