Image processing method and device and readable storage medium

The invention provides an image processing method and device and a readable storage medium. The method comprises the following steps: acquiring a first image and a second image of the same scene; respectively extracting feature points in the first image and the second image to obtain a first feature point set of the first image and a second feature point set of the second image; obtaining semantic segmentation information of the first image, wherein the semantic segmentation information comprises pixel point identification information corresponding to various types of targets in the first image; screening from the first feature point set according to the semantic segmentation information to obtain a third feature point set, wherein the third feature point set comprises feature points corresponding to non-motion type targets in the first image; and performing feature point matching on the third feature point set and the second feature point set to obtain a matched feature point pair. The accuracy of image feat