Sensor external parameter calibration and model training method, device, equipment and medium

The invention provides a sensor external parameter calibration method and device, equipment and a medium, and relates to the technical field of automatic driving. According to the specific implementation scheme, under the condition that it is determined that a target carrier meets an external parameter calibration condition, a target image frame collected by a target camera at a first moment and a target point cloud collected by a target laser radar at a second moment are obtained; performing coordinate system conversion on the target point cloud, and determining a conversion point cloud corresponding to the target point cloud in the conversion radar coordinate system; performing feature extraction on the target image frame to obtain an image feature map, and performing feature extraction on the depth map corresponding to the conversion point cloud to obtain a point cloud feature map; and according to the image feature map and the point cloud feature map, determining a target extrinsic parameter between the t