Data annotation method and device, equipment and storage medium

The invention relates to a data annotation method and device, equipment and a medium. The method comprises the steps that point cloud data and image data collected at the same moment are acquired; performing labeling processing on the point cloud data based on a preset model to obtain first labeling information on the point cloud data; and based on a coordinate conversion relationship between the point cloud data and the image data, mapping the first annotation information to the image data to obtain annotated target image data. According to the method and the device, the obtained point cloud data is labeled through the preset model, the obtained labeling result is mapped to the image data collected at the same time as the point cloud data based on the coordinate conversion relation, the image data with the labeling result is obtained, and the data labeling efficiency is improved. 本公开涉及一种数据标注方法、装置、设备及介质，该方法包括：获取同一时刻采集到的点云数据和图像数据；基于预设模型对所述点云数据进行标注处理，得到所述点云数据上的第一标注信息；基于所述点云数据和所述图像数据之间的坐标转换关系，将所述第一标注信息映射到所述图像数据上