Image generation method and device, equipment and storage medium

The invention provides an image generation method and device, equipment and a storage medium, which can be applied to the field of laser radars. The method comprises the following steps: performing image acquisition on a to-be-detected object to obtain a first image and a second image; according to a first pixel point of the first image, determining a pixel cluster taking the first pixel point as a central point; determining the weight of the associated pixel point according to the reflectivity similarity between the first pixel point and the associated pixel point and the spatial similarity between the first pixel point and the associated pixel point; acquiring detection information corresponding to the first pixel point and the associated pixel point and image contour information corresponding to the second image; determining the distance of the first pixel point according to the weight of the associated pixel point, the first pixel point and the detection information corresponding to the associated pixel p