The invention belongs to the field of building surveying and mapping, and particularly discloses a building three-dimensional defect detection method, device and equipment based on multi-
sensor fusion, and the method comprises the steps: obtaining data detected by a
laser radar, an IMU, a wheel speed meter and image capturing equipment; fusing the data observed by the
laser radar, the IMU and the wheel
speedometer based on the ESKF, and determining the speed and the
pose of the vehicle-mounted acquisition equipment; obtaining a three-dimensional
point cloud model under a world coordinate
system by combining the speed, the
pose and the
point cloud data observed by the
laser radar; generating a corresponding three-dimensional
Gaussian function according to the three-dimensional
point cloud model, projecting the three-dimensional
Gaussian function in a world coordinate
system to a coordinate
system of an image capturing device in combination with a
pose, and performing microrasterization to obtain a preliminarily rendered image; and constructing a
loss function in combination with a visual image observed by an image capturing device, optimizing the three-dimensional
Gaussian function, and iterating to obtain a rendered three-dimensional visual model. According to the invention, fusion positioning and high-precision mapping of the building are realized in combination with multiple sensors.