Image generation method and device

The invention discloses an image generation method and device. The method comprises the following steps: a first terminal device obtains image data streams and inertial measurement unit data streams of a plurality of view angles of a target scene collected by a second terminal device; the first terminal equipment also acquires high-precision point cloud data of an area scanned by the first equipment under the multiple visual angles and high-precision point cloud data of an area not scanned by the first equipment under the multiple visual angles; the path of the area which is not scanned by the first equipment is planned by the first terminal equipment based on the distribution information of the area which is not scanned by the first equipment, and the current path of the first equipment is displayed in real time and is manually modified; and the first terminal device processes the image data streams and the inertial measurement unit data streams of the multiple visual angles and the high-precision point cloud data of the multiple visual angles to obtain a digital map of the target scene. The precision of the digital map of the target scene obtained through the method is high.