An image processing method performed by an image processing device, the method comprising: • acquiring a distorted image of a photographed object (step 101); • selecting, according to a mapping relationship between at least one group of lens optical distortion models and reprojection error values, a lens optical distortion model corresponding to a reprojection error value that is less than a specified threshold, wherein the lens optical distortion model comprises an optical distortion type, a distortion order, and a distortion coefficient, and for a calibration object, the reprojection error value is used to represent a difference between theoretically distorted image coordinates of the calibration object and actually distorted image coordinates of the calibration object (step 102); and • determining spatial coordinates of each point included in the photographed object, wherein the spatial coordinates are coordinates of the photographed object in a three-dimensional space; • creating a virtual grid image and mapping the photographed object to the virtual grid image based on the determined spatial coordinates, thereby obtaining an ideal image of the photographed object; characterized in that the method further comprises: • determining ideal image coordinates of each grid point in the ideal image, wherein the ideal image coordinates are undistorted coordinates of each grid point in the virtual grid image to which the photographed object is mapped, • performing coordinate conversion on the determined ideal image coordinates of each grid point by using the lens optical distortion model, to obtain theoretically optically distorted image coordinates corresponding to the ideal image coordinates; • searching, according to the theoretically optically distorted image coordinates and actually optically distorted image coordinates of pixels comprised in the acquired distorted image, for a pixel at which a distance between actually optically distorted image coordinates and the theoretically optically distorted image coordinates is less than a specified threshold; and • obtaining, by calculation according to a pixel value of the found pixel, a pixel value corresponding to the ideal image coordinates of a grid point in the ideal image, and obtaining the obtained ideal image as an image with the optical distortion corrected (step 103). • acquiring a distorted image of a photographed object (step 101); • selecting, according to a mapping relationship between at least one group of lens optical distortion models and reprojection error values, a lens optical distortion model corresponding to a reprojection error value that is less than a specified threshold, wherein the lens optical distortion model comprises an optical distortion type, a distortion order, and a distortion coefficient, and for a calibration object, the reprojection error value is used to represent a difference between theoretically distorted image coordinates of the calibration object and actually distorted image coordinates of the calibration object (step 102); and • determining spatial coordinates of each point included in the photographed object, wherein the spatial coordinates are coordinates of the photographed object in a three-dimensional space; • creating a virtual grid image and mapping the photographed object to the virtual grid image based on the determined spatial coordinates, thereby obtaining an ideal image of the photographed object; • determining ideal image coordinates of each grid point in the ideal image, wherein the ideal image coordinates are undistorted coordinates of each grid point in the virtual grid image to which the photographed object is mapped, • performing coordinate conversion on the determined ideal image coordinates of each grid point by using the lens optical distortion model, to obtain theoretically optically distorted image coordinates corresponding to the ideal image coordinates; • searching, according to the theoretically optically distorted image coordinates and actually optically distorted image coordinates of pixels comprised in the acquired distorted image, for a pixel at which a distance between actually optically distorted image coordinates and the theoretically optically distorted image coordinates is less than a specified threshold; and • obtaining, by calculation according to a pixel value of the found pixel, a pixel value corresponding to the ideal image coordinates of a grid point in the ideal image, and obtaining the obtained ideal image as an image with the optical distortion corrected (step 103).