Fusion labeling method and device, equipment and storage medium

The invention provides a fusion labeling method and device, equipment and a storage medium, and the method comprises the steps: obtaining an initial three-dimensional point cloud and an initial two-dimensional image, carrying out the data synchronization of the initial three-dimensional point cloud and the initial two-dimensional image, obtaining a to-be-labeled three-dimensional point cloud and a to-be-labeled two-dimensional image, determining a three-dimensional target frame based on the to-be-labeled three-dimensional point cloud, and carrying out the labeling of the three-dimensional target frame. And mapping the three-dimensional target frame to obtain a pseudo three-dimensional target frame in the to-be-labeled two-dimensional image, performing first classification identification on a plurality of target point clouds in the three-dimensional target frame, and performing second classification identification on a plurality of types of target images in the pseudo three-dimensional target frame to obtain a