Millimeter-wave (mmWave) communications with abundant spectrum resources have become an enabling technology for high throughput, ultra-reliable, and low latency communications (URLLC). Since the mmWave signal is sensitive to blockage, accurate base station (BS) selection is the premise of achieving the URLLC. In this paper, we propose a multi-view images assisted proactive BS selection scheme that can predict the optimal BS for the user in the next frame. The proposed scheme utilizes vision sensing and thus does not require the entire pilot resources, such that the latency caused by seeding and receiving pilots reduces. In addition, we design a multitask learning strategy and a prior knowledge based fine tuning method to ensure the accuracy and reliability of BS selection. Simulation results in an outdoor environment demonstrate the superior performance of the proposed scheme in terms of both the accuracy and the robustness.