The invention provides a graph optimization method and device, electronic equipment and a storage medium. The method comprises the following steps: pre-constructing a to-be-optimized graph of SLAM (Simultaneous Localization and Mapping), wherein a node of the graph represents a to-be-optimized variant of a to-be-solved linear equation, an edge represents a constraint relation of the to-be-optimized variant, the node comprises a first node and a second node and respectively represents the three-dimensional point coordinate and the camera motion parameter; copying the first node in the to-be-optimized graph into more than two third nodes, wherein any one of the third nodes and n second constraint nodes have a constraint relation, m of the n second constraint nodes and the adjacent third nodehave the same constraint relation, the second constraint node and at least one third node have a constraint relation, n is a preset control parameter, and the second constraint node is the second node having the constraint relation with the first node; and marginalizing the third node to reduce the density of the to-be-solved linear equation. The method provided by the embodiment of the inventionimproves the optimization efficiency, and reduces the power consumption in computation and the hardware cost.