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

The invention discloses a three-dimensional reconstruction method and device, equipment and a storage medium, and relates to the technical field of three-dimensional reconstruction. According to the technical scheme provided by the invention, the method comprises the steps: constructing a first three-dimensional map based on an image sequence through a global reconstruction algorithm, and determining a first lost frame in the image sequence; optimizing the first three-dimensional map through an incremental reconstruction algorithm based on the first lost frame to obtain a second three-dimensional map, and determining a second lost frame in the image sequence; and under the condition of determining that the second three-dimensional map does not meet a preset complete condition, constructing a local three-dimensional map corresponding to the second lost frame through a hole filling algorithm, and filling the local three-dimensional map into the second three-dimensional map to obtain a target three-dimensional m