Depth measurement method and device and terminal equipment

The invention is suitable for the technical field of measurement, and provides a depth measurement method and device and terminal equipment, and the method comprises the steps: collecting depth images of a current scene under at least two measurement frequencies, wherein the at least two measurement frequencies at least comprise a first frequency and a second frequency, the first frequency is greater than the second frequency, and the first frequency is greater than the second frequency; the depth image comprises a plurality of pixel points; determining a plurality of candidate fusion depths of each pixel point, and determining the relative depth of each pixel point; according to a plurality of candidate fusion depths and relative depths of a target pixel point, identifying the fusion depth of the target pixel point, wherein the target pixel point is any one of the plurality of pixel points; and generating a target depth image of the current scene based on the fusion depth of the plurality of target pixel poi