External parameter calibration method and device, computing equipment, medium and vehicle

The embodiment of the invention provides an external parameter calibration method and device, computing equipment, a medium and a vehicle. The external parameter calibration method comprises the following steps: acquiring a local point cloud and acquiring a pre-scanned reference point cloud; performing coordinate transformation on the local point cloud based on the initial value of the to-be-calibrated external parameter to obtain a first transformation coordinate; transforming the first transformed coordinate into a second transformed coordinate based on a known transformation relationship between the target odometer sensor coordinate system and the reference coordinate system; on the basis of the coordinates of the detection points in the local point cloud and the coordinates of the detection points in the reference point cloud, sub-point clouds registered with the local point cloud in the reference point cloud are determined, and precise coordinates of the detection points in the sub-point clouds in a refe