The invention discloses a scale determination method and device, a storage medium and equipment, and belongs to the technical field of
virtual reality. The method comprises the following steps of: obtaining at least two image frames; obtaining at least one group of first rotation parameters and first displacement parameters according to the at least two image frames, wherein each group of first rotation parameters and first displacement parameters is used for representing a position posture change of a
monocular camera when two adjacent image frames in the at least two image frames are shot bythe
monocular camera, the first displacement parameters comprise a scale of visual
inertia speedometer and the scale is unknown; obtaining at least one group of second rotation parameters and seconddisplacement parameters, wherein each group of second rotation parameters and second displacement parameters is used for representing a position posture change, measured by an IMU, of the
monocular camera when two adjacent image frames in the at least two image frames are shot by the
monocular camera; and determining a scale according to the at least one group of first rotation parameters and first displacement parameters and the at least one group of second rotation parameters and second displacement parameters. According to the method and device, the storage medium and the equipment, the scale determination efficiency is improved.