Scene space model construction method and apparatus, and storage medium

A method for constructing a scene space model, comprising:

• acquiring first point cloud information corresponding to a target scene collected by mobile point cloud collection equipment;
• acquiring depth image information corresponding to a partial region of the target scene collected by fixed-point depth camera equipment, wherein the depth image information includes:
• second point cloud information and image color information corresponding to the second point cloud information;
• determining a rotation matrix of a camera coordinate system of the fixed-point depth camera equipment corresponding to a global coordinate system based on the first point cloud information and the second point cloud information, wherein the global coordinate system is a coordinate system corresponding to the first point cloud information;
• generating a first panoramic image based on the depth image information, mapping the first panoramic image onto a three-dimensional unit sphere;
• rotating the three-dimensional unit sphere based on the rotation matrix to generate a second panoramic image;
• and
• generating a scene space model based on the first point cloud information and the second panoramic image.