A map construction method, an electronic device and a readable storage medium are disclosed. The map construction method includes: obtaining three-dimensional point cloud data corresponding to observed objects in current target frame data, the observed objects including a feature object and a non-feature object; obtaining a feature parameter corresponding to the feature object based on three-dimensional point cloud data corresponding to the feature object, the feature parameter being used to indicate a position and a size of the feature object; and adjusting a point cloud density of three-dimensional point cloud data corresponding to the non-feature object to a preset value, to construct a map according to the feature parameter and the three-dimensional point cloud data of which the point cloud density is adjusted.