Training sample generation and verification method and device for perceptual algorithm, and medium

The invention relates to the technical field of data processing, and discloses a training sample generation and verification method and device for a perception algorithm, and a medium. The method comprises the following steps: constructing a virtual simulation environment through a real perception environment, reading import files corresponding to confrontation samples or common samples for a real object, updating and displaying the imported samples in the virtual simulation environment, and further obtaining perception data of the samples through a virtual environment camera and a virtual laser radar, the method comprises the following steps: constructing an original training sample set through sensing data, determining a target training sample set through differences among the sensing data, training an algorithm, verifying the algorithm after the training is completed, and returning to continue to read a new import file to generate a new target training sample set. The generation of the training sample set