Construction method and device of target map, computer equipment and readable storage medium

The invention discloses a target map construction method and device, computer equipment and a readable storage medium, and relates to the field of visual processing, and the method comprises the steps: obtaining continuous multi-frame three-dimensional images; inputting each frame of three-dimensional image into a preset target detection network to obtain the category and image feature representation of each target in each frame of three-dimensional image; according to the image feature representation of each target, setting the image feature representations of similar or same targets in different frames of three-dimensional images to be the same value; according to a preset classification rule and the category of each target, determining a static target in all the targets; and generating a target map according to the image feature representation of each static target. On the basis, map retrieval tasks such as loopback detection and relocation in visual synchronous localization and mapping can be carried out