Port wharf surface lane line mapping method and device and storage medium

The invention provides a port wharf surface lane line mapping method and device and a storage medium, and the method comprises the steps: carrying out the registration of a lane line feature of a video frame and a lane line feature of a previous video frame adjacent to the video frame, and determining the inter-frame constraint information between two video frames; for each video frame, registering the historical lane line features of the historical video frame with the lane line features of the video frame, and determining closed-loop constraint information; and based on the inter-frame constraint information, the closed-loop constraint information and the navigation result, determining a track point of a target vehicle passing corresponding to each lane line feature, splicing the lane line features of the video frames based on a plurality of track points, and determining a global map of the port wharf surface lane line through which the target vehicle passes. Through the inter-frame constraint information,