Method and device for synthesizing ground identification based on BEV image

The invention discloses a method and device for synthesizing a ground identifier based on a BEV image, and the method comprises the steps: obtaining a ground identifier template and a background image, and the ground identifier template comprises a ground arrow and a character identifier; projecting the background image to an overhead view angle to obtain a BEV image, and identifying a position coordinate used for adding the ground identifier in the BEV image; the ground identifier and the BEV image are fused into a target BEV image according to the position coordinates, the target BEV image is converted into a common image at a common view angle, and the common image comprises the ground identifier template. According to the method, the target data with the labels can be automatically synthesized in batches by utilizing the background image and the ground identification and by means of the road surface segmentation result of the lane line and the drivable area, the new category of data synthesis can be direc