Mapping method and device and computer storage medium

The invention provides a mapping method and device and a computer storage medium. The method comprises the following steps: acquiring point clouds of a plurality of local maps by using a laser radar; constructing local maps according to the point clouds of the plurality of local maps to obtain the plurality of local maps; performing feature extraction and geometric feature fitting on the point clouds of the plurality of local maps; performing similarity evaluation on the point cloud frames of the plurality of local maps according to a feature extraction result and a geometric feature fitting result; and splicing the plurality of local maps according to a similarity evaluation result to obtain a global map. According to the embodiment of the invention, a plurality of laser radars can be adopted to work at the same time, data acquisition is carried out on different local areas, the point clouds of the local maps are obtained, analysis is carried out according to the point clouds of the local maps, the local map