Semi-dense scene reconstruction method and device, electronic equipment and storage medium

The invention discloses a semi-dense scene reconstruction method and device, electronic equipment and a storage medium. The semi-dense scene reconstruction method comprises the steps: carrying out thebinocular parallel correction of a first image according to the internal parameters and external parameters of a binocular camera, so as to obtain a second image; selecting a plurality of key image frames from the second image based on a preset rule; calculating to obtain a feature point set corresponding to each key image frame based on a direct motion estimation method and preset parameters; grouping the plurality of key image frames to obtain a plurality of image frame groups, each image frame group comprising a target frame and a plurality of frames to be projected; in each image frame group, obtaining a feature point set of a target frame and a feature point set of at least one to-be-projected frame, and projecting the feature point set of the at least one to-be-projected frame to the feature point set of th