Three-dimensional reconstruction method and device, unmanned equipment and storage medium

The embodiment of the invention discloses a three-dimensional reconstruction method and device, unmanned equipment and a storage medium. The method comprises the following steps: acquiring real-time position data of the unmanned equipment in a flight process and an image shot by a camera; performing coordinate system conversion on the real-time position data to obtain real-time position data under a first coordinate system; performing three-dimensional reconstruction based on the image and the real-time position data under the first coordinate system to obtain three-dimensional point cloud data under the first coordinate system; obtaining a target vector in a first coordinate system, first attitude data of a camera and a first point cloud coordinate of the three-dimensional point cloud data; and according to the first attitude data, the first point cloud coordinate and the target vector, calculating to obtain a rotation matrix, and converting the three-dimensional point cloud data based on the rotation matrix