Semantic mapping method and device in parking garage environment, electronic equipment and storage medium

The invention relates to a semantic mapping method and device in a parking garage environment, electronic equipment and a storage medium. The method comprises the steps that vehicle pose information is obtained according to sensor data; splicing a plurality of look-around pictures, detecting lane line semantic information and garage location line semantic information through a semantic segmentation algorithm, marking corresponding picture pixels, and extracting a lane line center line picture and a garage location line center line picture; according to the vehicle pose information and the time of the look-around picture, calculating the vehicle pose information of the look-around picture, obtaining lane line point clouds and parking space line point clouds at different moments based on the vehicle pose information of the look-around picture, the lane line center line picture and the parking space line center line picture, and splicing to obtain an initial semantic point cloud map; and performing downsampling