Calibration verification method and device, storage medium and electronic equipment

The invention discloses a calibration verification method and device, and the method comprises the steps: obtaining multiple frames of point cloud data collected by unmanned vehicle laser radar equipment and image data collected by an image sensor at the same time, and carrying out the calculation of the point cloud data and image data of each frame, the method comprises the following steps: respectively extracting a point cloud edge, an image edge and image edge transformation information, generating a series of regular disturbance transformation matrixes according to a transformation matrix from an existing calibrated laser radar to a camera coordinate system, and projecting the point cloud edge to an image by using the transformation matrix so as to evaluate the consistency of each frame of point cloud and the image edge; and the accuracy of the current calibration transformation matrix is evaluated and verified by accumulating the edge consistency of multi-frame data under different disturbance transforma