The invention discloses a
point cloud map determination method and device, equipment and a storage medium, and relates to the technical field of computers. The method comprises the following steps: acquiring
point cloud data, inertial measurement data and GNSS data; based on the
point cloud data and the inertial measurement data, utilizing a
laser mileage calculation method to obtain corrected point
cloud data, first global
pose data and relative
pose data; determining second global
pose data under the GNSS data coordinate
system; based on the corrected point
cloud data, the relative pose data and the second global pose data, constructing an initial
factor graph to determine a relative pose constraint in the window and a relative pose constraint between the windows; determining a GNSS relative pose constraint based on the second global pose data and the GNSS data; and obtaining a target
factor graph based on the initial
factor graph, the GNSS data, the in-window relative pose constraint, the inter-window relative pose constraint and the GNSS relative pose constraint, and carrying out
graph optimization processing on the target factor graph to obtain a point cloud map.