Panoramic image processing method and device, related equipment and vehicle

The invention relates to a panoramic image processing method and device, related equipment and a vehicle, and the method comprises the steps: constructing a sparse disparity map for an overlapping region of images shot by a plurality of shooting devices on the vehicle; based on the sparse disparity map, performing segmentation to obtain a target layer image, the target layer image being used for indicating an image of a region where a target object is located in the overlapping region; performing ground plane projection on the target layer image to obtain a target projection image; and generating a panoramic image according to the target projection image. The sparse view is constructed for the overlapped region of the images shot by the plurality of shooting devices, and a series of operations are performed based on the sparse disparity map to obtain the panoramic image, so that the panoramic image obtained by splicing does not have the problems of ghosting, artifacts and the like, the splicing effect is good, and the user experience is improved.