Three-dimensional point cloud map construction method and system, electronic equipment and storage medium

The invention provides a three-dimensional point cloud map construction method and system, electronic equipment and a storage medium. The method comprises the following steps: constructing an initial point cloud map and an initial pose map based on n frames of point clouds; newly creating voxels; after the ith frame of point cloud is added into the voxel, determining the number of target voxel units in the voxel, the target voxel units are voxel units containing points added into each frame of point cloud, then determining whether the ith frame of point cloud is a key frame point cloud according to the number of the target voxel units, if yes, resetting the points of the point clouds in all the target voxel units, if not, i is made to be equal to i + 1, otherwise, i is made to be equal to i + 1 directly, and adding the ith frame of point cloud into the voxel again until i is equal to n; based on key frame point clouds and non-key frame point clouds in the n frames of point clouds and the initial pose map, obt