Joint calibration method and device of camera and laser radar, equipment and medium

The embodiment of the invention discloses a joint calibration method and device for a camera and a laser radar, equipment and a medium. The method comprises the following steps: acquiring an image and a point cloud including the same area; performing projection processing on a point cloud point set corresponding to a point cloud object in the point cloud based on the initial transformation matrix to obtain a mapping point set corresponding to the point cloud object in a coordinate system of the image; obtaining first size feature information and first direction feature information corresponding to the image object and second size feature information and second direction feature information corresponding to the point cloud object through a preset algorithm; and determining a corrected transformation matrix according to the first size feature information, the first direction feature information, the second size feature information and the second direction feature information. The method gets rid of dependence o