The short answer is "yes"; anything that is ready to be used in your game is taking up memory.
The other thing to consider is the cost to your frame-rate:
5 objects, with 5 separate textures, drawn separately require state-changes in-between. You may be able to save some memory by unloading textures that aren't used.
By loading all of the separate textures into a single atlas texture, the memory footprint becomes fixed and you can no longer unload an individual texture. Once created, you only have to bind the atlas once to draw all of your objects.
Another example is a simple vertex and index buffer.
If many of the points frequently toggle between visible and not, it is faster to leave the "stale" points in the vertex buffer and only upload a new index buffer.
There are many others times where an increased up-front memory cost is preferable to many state-changes.
If you rotate your camera, you definitely will not destroy those objects unless you know, that camera will not rotate back to check on that object." – Katu
Using a side-scroller as an example, if you can only move to the right (the map only scrolls to the left), any object that scrolls off the left side of the screen can be permanently unloaded since you will never use it again. Additionally, content for objects can be demand-loaded right before the object scrolls into view from the right.