Object recognition method and device, object recognition equipment and storage medium

The embodiment of the invention provides an object recognition method and device, object recognition equipment and a storage medium. The object identification method comprises the steps: acquiring vehicle driving data, image data and first data of an automatic driving vehicle, wherein the first data is acquired by a laser radar; and inputting the vehicle driving data, the image data and the firstdata into a preset fusion recognition model to obtain an object recognition result of the automatic driving vehicle, wherein the preset fusion recognition model comprises Kalman filtering and a neuralnetwork. According to the object identification method provided by the embodiment of the invention, the accuracy of the object identification method can be improved. 本申请实施例提供了一种物体识别方法、装置、物体识别设备及存储介质。物体识别方法，包括：获取自动驾驶车辆的车辆行驶数据、图像数据、第一数据；其中，第一数据由激光雷达采集；将车辆行驶数据、图像数据、第一数据输入预设融合识别模型，得到自动驾驶车辆的物体识别结果；其中，预设融合识别模型包括卡尔曼滤波和神经网络。根据本申请实施例的物体识别方法，可以提高物体识别方法的准确性。