A method, a device, a computer device and a storage medium for a real-time urban scene reconstruction are provided. The method comprises: obtaining a target image frame and an adjacent image frame corresponding to a target urban scene; locating a position of an object in the target image frame according to the target image frame and the adjacent image frame and obtaining an object point cloud, an object image and a coordinate transformation matrix corresponding to a target object; determining a global characteristic of the target object and parameters of surfaces to be selected of the target object which is configured to determine a characteristic of the surface to be selected; determining a plane combination matrix of the target object; reconstructing a three-dimensional scene model of the target urban scene according to the plane combination matrix, the parameters of the surfaces to be selected and the coordinate transformation matrix.