Time sequence point cloud data pavement element labeling method and device and electronic equipment

The invention discloses a time sequence point cloud data pavement element labeling method and device, and electronic equipment. The method comprises the following steps: reconstructing time sequence point cloud data into a joint point cloud under a global coordinate system based on the pose of each frame of point cloud; removing a dynamic target object in the joint point cloud data to obtain static joint point cloud data; converting the static joint point cloud data into a top view image; pre-labeling pavement elements in the top view image by using a pavement element pre-labeling model, and manually modifying a pre-labeling result to obtain accurate image label data; establishing a conversion relation between image pixels and point cloud points, and converting the accurate image label data into point cloud label data; by means of the method, the problems that when traditional point cloud data is used for road surface element labeling, the hardware requirement is high, the labeling efficiency is low, and labe