Construction method and apparatus of map, and electronic equipment

The invention provides a construction method and apparatus of a map, and electronic equipment. The construction method of a map includes the steps: according to the current frame of depth image acquired by acquisition equipment, determining the pose of the current acquisition equipment; according to the historical depth image acquired by the acquisition equipment, optimizing the pose and obtainingthe target pose; and according to the target pose, constructing a map. The construction method of a map can optimize the pose of the current acquisition equipment according to the historical depth image acquired by the acquisition equipment to obtain the target pose with higher precision, and can construct a map based on the target pose, thus being able to reduce the errors gradually accumulatedby passage of time so as to improve the precision of map construction. 本申请提供种地图的构建方法、装置及电子设备，所述方法的具体实施方式包括：根据采集设备采集的当前帧深度图像确定当前所述采集设备的位姿；根据所述采集设备采集的历史深度图像优化所述位姿，得到目标位姿；根据所述目标位姿构建地图。该实施方式能够根据采集设备采集的历史深度图像优化当前采集设备的位姿，得到精度更高的目标位姿