Semantic information-based clustering method and device, electronic equipment and storage medium

The embodiment of the invention provides a clustering method and device based on semantic information, electronic equipment and a storage medium, and the method comprises the steps: obtaining the attribute information of a target point cloud, the attribute information comprises the position information and semantic information of each detection point in the target point cloud, the semantic information comprises at least one semantic tag of the detection point and confidence corresponding to each semantic tag; mapping the target point cloud into grids based on the position information of each detection point in the target point cloud; for each grid, based on the semantic information of each detection point in the grid, determining the grid semantic information of the grid, the grid semantic information comprising at least one semantic tag of the grid and the confidence corresponding to each semantic tag; and clustering the grids according to the position relationship between the grids and the semantic informat