Feature point mapping method and device, memory parking method and device and computer storage medium

The invention provides a feature point mapping method and device, a memory parking method and device and a computer storage medium. The feature point mapping method comprises the following steps: acquiring a current image and a current feature point map; re-projecting a local map in the current feature point map to the current image based on the current position of the vehicle, and obtaining feature points with the distance smaller than a preset distance as matched feature points; updating the current pose of the vehicle and the position of the matched feature point of the current image by using the stable feature points of which the matching times are greater than the preset times; and fusing the matched feature point position of the current image and the feature point position of the current feature point map so as to update the current feature point map. Through the mode, the algorithm complexity is low, stable feature points are established, the stability of the feature points is represented by the stabil