Laser radar calibration point determination method and device, equipment and storage medium

The invention discloses a laser radar calibration point determination method and device, equipment and a storage medium. The method comprises the steps of obtaining a to-be-processed two-dimensional point cloud image, wherein the to-be-processed two-dimensional point cloud image is a point cloud image collected by a laser radar for a preset target; performing traversal assignment on the to-be-processed two-dimensional point cloud image according to a preset line filling template, and determining an intermediate two-dimensional point cloud image; performing traversal assignment on the middle two-dimensional point cloud image according to a preset circle contour filling template, and determining a target two-dimensional point cloud image; performing Hough transform on the target two-dimensional point cloud image, and determining a calibration point of the laser radar according to a transform result; wherein the preset target is a target comprising a circular contour. According to the technical scheme of the emb