Fusion labeling method based on neural network and related equipment

The invention discloses a fusion labeling method based on a neural network and related equipment. The method comprises the following steps: acquiring a point cloud acquisition parameter of point cloud data, an image acquisition parameter of image data and a calibration parameter between the point cloud data and the image data; determining a pseudo 3D frame of the target object in the image data based on the point cloud data; and based on the point cloud acquisition parameters, the image acquisition parameters, the pseudo 3D frame, the calibration parameters and the trained image marking model, marking a marking frame of the target object in the image data. The image annotation model in the application can learn the information required for mapping the accurate pseudo 3D frame into the accurate annotation frame from the point cloud acquisition parameters, the image acquisition parameters, the pseudo 3D frame and the calibration parameters, and the annotation frame is generated based on the information, so that