Power equipment inspection method and device and terminal equipment

The invention is suitable for the technical field of power equipment inspection, and provides a power equipment inspection method and device and terminal equipment, and the method comprises the steps: obtaining a collection image of to-be-detected power equipment, and the speed, angular speed and acceleration of collection equipment in a world coordinate system when the collection image is collected, and the collection image is a plurality of discontinuous frame images; the method comprises the following steps: obtaining a rotation matrix of an acquired image relative to a world coordinate system and a translation matrix in the world coordinate system based on a speed, an angular speed and an acceleration of acquisition equipment in the world coordinate system when the acquired image is acquired; smoothing processing is carried out on the acquired image, virtual coordinates of feature points of the acquired image are obtained based on the acquired image after smoothing processing, and the feature points are t