Real-time global point cloud map construction method, system and device and storage medium

The invention discloses a real-time global point cloud map construction method, system and device and a storage medium, and the method comprises the steps: constructing a local point cloud map according to the collected multi-frame first point cloud of the surrounding environment of a vehicle and the collected multi-frame first pose data of the vehicle before the vehicle is driven; when the vehicle bypasses a circle on the established experimental road, point cloud filling is carried out on the local point cloud map according to collected multi-frame second point cloud of the surrounding environment of the vehicle and multi-frame second pose data of the vehicle to obtain a static global point cloud map; and when the vehicle runs on any road, updating the static global point cloud map to form a real-time global point cloud map according to the single-frame third point cloud of the surrounding environment of the vehicle and the single-frame third pose data of the vehicle, which are acquired in real time. The ab