Map construction method and device, equipment and storage medium

The invention provides a map construction method, device and equipment and a storage medium, relates to the field of artificial intelligence, and is used for improving the robot positioning robustness, eliminating the influence of a dynamic object on robot positioning and mapping in a dynamic scene, and improving the robot positioning and mapping efficiency. Comprising the following steps: a map construction device determines dynamic feature points in an original binocular image collected by a robot, and determines a dynamic target object in the original binocular image according to the dynamic feature points of the original binocular image; further, the map construction device deletes the dynamic target object from the original binocular image to obtain a static binocular image, and determines the motion state of the robot based on the static binocular image, the motion state including the position, the posture and the speed. Moreover, the map construction device also carries out depth estimation on the orig