Warehouse point cloud semantic segmentation method and device, computer equipment and storage medium

The invention relates to a warehouse point cloud semantic segmentation method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a first database file comprising a target storage image; inputting the target storage image into a trained target semantic segmentation model for semantic segmentation to obtain a target mask image; the target semantic segmentation model is obtained based on training of a bar-shaped pooling network comprising a convolution attention mechanism unit; replacing the target storage image in the first database file with the target mask image to obtain a second database file; and constructing a three-dimensional point cloud map according to the second database file to obtain a warehouse point cloud semantic segmentation result. By adopting the method, the semantic segmentation precision of the warehouse point cloud can be improved. 本申请涉及一种仓库点云语义分割方法、装置、计算机设备和存储介质。所述方法包括：获取包括目标仓储图像的第一数据库文件；将所述目标仓储图像输入已训练好的目标语义分割模型进行语义分割得到目标蒙版图像；所述目标语义分割模