Three-dimensional lane line marking method and device, electronic equipment and storage medium

The embodiment of the invention provides a three-dimensional lane line marking method and device, electronic equipment and a storage medium, the three-dimensional lane line marking method comprises the steps that first laser point cloud data and image data which are synchronously collected are acquired, and the first laser point cloud data and the image data both comprise lane line information; marking a lane line image in the image data to obtain a two-dimensional lane line semantic segmentation marking result; projecting the first laser point cloud data to the image data, and obtaining point cloud attribute information according to a projection result and a two-dimensional lane line semantic segmentation labeling result; adding the point cloud attribute information into the first laser point cloud data to obtain second laser point cloud data; and according to the second laser point cloud data, obtaining a laser point cloud marking result marked with the three-dimensional lane line. According to the scheme,