Traffic sign three-dimensional reconstruction method and device and moving tool

The embodiment of the invention relates to a traffic signboard three-dimensional reconstruction method, and the method comprises the steps: inputting preprocessed image data into a pre-trained model, and generating a detection result of a traffic signboard; the detection result comprises image acquisition time, the type of the to-be-reconstructed traffic signboard and the coordinates of the to-be-reconstructed traffic signboard; sorting the detection results according to the image acquisition time to generate a plurality of detection intervals; calculating the area of a detection frame corresponding to the coordinates of the to-be-reconstructed traffic signboards with the same category in each detection interval so as to determine a target coordinate; mapping the point cloud with a detection result including a target coordinate according to a preset rule so as to screen out a to-be-reconstructed traffic signboard target point cloud; and according to the target point cloud of the traffic signboard to be recons