Three-dimensional scanning method and device, computer equipment and storage medium

The invention relates to a three-dimensional scanning method and device, computer equipment and a computer readable storage medium. The three-dimensional scanning method comprises the steps of obtaining a three-dimensional laser point cloud of a scanned object; determining the deviation between the three-dimensional laser point cloud and the standard three-dimensional model of the scanned object; wherein the standard three-dimensional model is a pre-stored standard three-dimensional scanning model, and the three-dimensional laser point cloud and the standard three-dimensional model are located in the same coordinate system; and judging whether the deviation meets a preset condition or not, and removing the three-dimensional laser point clouds of which the deviation does not meet the preset condition. According to the method, the deviation between the three-dimensional laser point cloud of the scanned object and the standard three-dimensional model of the scanned object is determined by taking the standard thr