Method and apparatus for constructing three-dimensional map

摘要

The present disclosure discloses a method and apparatus for constructing a three-dimensional map. A specific embodiment of the method includes: acquiring multiple frames of a monocular image containing a target object collected by a monocular camera, and constructing a three-dimensional map containing the target object and other objects in the monocular image based on the monocular image; determining an absolute scale of the target object, and determining a ratio of a relative scale corresponding to the target object to the absolute scale; and adjusting a scale of each object in the three-dimensional map to obtain a three-dimensional map meeting a preset condition based on the ratio. The method and apparatus provided by the present disclosure achieves the construction of a world coordinate system with absolute scales in a three-dimensional map constructed based on a monocular image.