A static object reconstruction method, comprising: separately obtaining at least one three-dimensional feature point and at least one two-dimensional feature point in a current frame of image of a static object, each three-dimensional feature point corresponding to a feature description quantity which includes depth data, color information and three-dimensional coordinates, each two-dimensional feature point corresponding to a feature description quantity which includes color information and two-dimensional coordinates; matching three-dimensional feature points and reference feature points, and calculating an extrinsic camera parameter of the current frame of image, wherein the reference feature points are formed by accumulation of feature points in multiple frames of images of the static object; converting, by using the calculated extrinsic camera parameter, a point cloud of the current frame of image to a reference coordinate system that comprises the reference feature points, so as to model the static object; characterized by the method further comprising: if the extrinsic camera parameter is not obtained in a preset time when the extrinsic camera parameter of the current frame of image is calculated based on three-dimensional feature points, matching two-dimensional feature points and three-dimensional feature points in the reference feature points or matching two-dimensional feature points and two-dimensional feature points in a previous frame of image of the current frame of image of the static object, and calculating the extrinsic camera parameter of the current frame of image. separately obtaining at least one three-dimensional feature point and at least one two-dimensional feature point in a current frame of image of a static object, each three-dimensional feature point corresponding to a feature description quantity which includes depth data, color information and three-dimensional coordinates, each two-dimensional feature point corresponding to a feature description quantity which includes color information and two-dimensional coordinates; matching three-dimensional feature points and reference feature points, and calculating an extrinsic camera parameter of the current frame of image, wherein the reference feature points are formed by accumulation of feature points in multiple frames of images of the static object; converting, by using the calculated extrinsic camera parameter, a point cloud of the current frame of image to a reference coordinate system that comprises the reference feature points, so as to model the static object; characterized by the method further comprising: if the extrinsic camera parameter is not obtained in a preset time when the extrinsic camera parameter of the current frame of image is calculated based on three-dimensional feature points, matching two-dimensional feature points and three-dimensional feature points in the reference feature points or matching two-dimensional feature points and two-dimensional feature points in a previous frame of image of the current frame of image of the static object, and calculating the extrinsic camera parameter of the current frame of image. if the extrinsic camera parameter is not obtained in a preset time when the extrinsic camera parameter of the current frame of image is calculated based on three-dimensional feature points, matching two-dimensional feature points and three-dimensional feature points in the reference feature points or matching two-dimensional feature points and two-dimensional feature points in a previous frame of image of the current frame of image of the static object, and calculating the extrinsic camera parameter of the current frame of image.