Scene map construction method and device, storage medium and electronic device

The invention provides a scene map construction method and device, a storage medium and an electronic device. The method comprises the steps that a scene collection image collected by an image collection component of cleaning equipment and image depth information of the scene collection image are acquired; performing object recognition on the scene acquisition image to obtain a scene object recognized from the scene acquisition image; and modeling the scene object according to the image depth information to obtain a three-dimensional scene map comprising a scene object model matched with the scene object. By adopting the technical scheme, the problem that the scene map constructed by the scene map construction method in the related technology is poor in practicability for the cleaning equipment due to the fact that low-height information is easy to be abnormal is solved. 本申请提供了一种场景地图构建方法及装置、存储介质及电子装置，上述方法包括：获取清洁设备的图像采集部件所采集到的场景采集图像、以及场景采集图像的图像深度信息；对场景采集图像进行对象识别，得到从场景采集图像中识别到的场景对象；按照图像深度信息对场景对象进行建模，得到包含与场景对象匹配