Flight control method, device and equipment of unmanned aerial vehicle and storage medium

The embodiment of the invention discloses a flight control method and device of an unmanned aerial vehicle, equipment and a storage medium. The method comprises the following steps: acquiring a to-be-processed image; wherein the picture content of the to-be-processed image comprises front flight environment information; determining an image feature point pair meeting a preset condition based on two frames of to-be-processed images adjacent in a time sequence; in the front flight environment, determining three-dimensional coordinate information associated with the image feature point pairs; based on the three-dimensional coordinate information, adjusting a to-be-adjusted map corresponding to the to-be-processed image to obtain a three-dimensional map; and determining the flight path of the unmanned aerial vehicle based on the three-dimensional map. According to the embodiment of the invention, the actual flight environment information can be efficiently and accurately restored, and the three-dimensional topogr