MAP CONSTRUCTING METHOD, POSITIONING METHOD AND SYSTEM, WIRELESS COMMUNICATION TERMINAL, AND COMPUTER-READABLE MEDIUM

Disclosed in the embodiments of the present application are a map constructing method, a positioning method and system, a wireless communication terminal, and a computer-readable medium. The map constructing method comprises : collecting an environment image of the current environment; obtaining the image feature information of the environment image, and according to the image feature information, performing feature point matching on continuous environment images so as to select a key frame image, wherein the image feature information comprises feature point information and corresponding describer information; obtaining depth information corresponding to a matched feature point in the key frame image so as to construct the three-dimensional feature information of the key frame image; and based on the key frame image, constructing the map data of the current environment, wherein the map data comprises the image feature information and the three-dimensional feature information corresponding to the key frame image. The map constructing method and the positioning method provided by the present application have the advantages of being high in positioning accuracy and strong in robustness, and being applicable for various complex scenes.