Method, device and storage medium for constructing scene space model

Abstract

According to the present disclosure, a method, device for constructing a scene space model and a storage medium are provided. The method includes: acquiring first point cloud information collected by mobile point cloud collection equipment; acquiring depth image information collected by fixed-point depth camera equipment; determining a rotation matrix of a camera coordinate system of the fixed-point depth camera equipment corresponding to a global coordinate system; generating a first panoramic image based on the depth image information, mapping the first panoramic image onto a three-dimensional unit sphere; rotating the three-dimensional unit sphere based on the rotation matrix to generate a second panoramic image; and generating a scene space model based on the first point cloud information and the second panoramic image.