Point cloud generation method and system, and computer storage medium

A point cloud generation method, comprising:

• initializing a spatial parameter of each pixel in a reference image, wherein the reference image is an image in a two-dimensional image set obtained by photographing a target scene;
• updating the spatial parameter of each pixel in the reference image through propagation of the spatial parameter of each pixel to adjacent pixels in the reference image to obtain an updated spatial parameter of the pixel in the reference image;
• for each pixel in a reference image that a change of the spatial parameter occurs before and after the propagation:
• determining a first difference between a depth value of the pixel before and after the propagation and a second difference between a score of the special parameter before and after the propagation;
• performing classification based on the first difference and the second difference;
• changing the spatial parameter of the pixel within a predetermined range based on the classification;
• updating, based on the score of the updated spatial parameter of each pixel, spatial parameters of at least some pixels in the reference image to corresponding updated spatial parameters whose scores reach a preset threshold range;
• determining, based on the updated spatial parameter of each pixel in the reference image, a depth map corresponding to the reference image;
• and
• generating a dense point cloud image based on the depth map corresponding to the reference image.