Visual detection method and device based on boundary map projection, equipment and medium

The invention relates to the technical field of image processing, in particular to a visual detection method and device based on boundary map projection, equipment and a medium. The method comprises the following steps: determining point cloud data according to positioning equipment and a radar system, and determining a boundary map according to the point cloud data; performing interval discrete point taking processing on the boundary map to obtain a plurality of target interval points; if the plurality of target interval points are not shielded by the obstacle, performing projection processing on the plurality of target interval points according to a coordinate system conversion relationship between the camera and the radar system to obtain a plurality of target projection points in the target detection image; determining a non-key area of the target detection image according to the plurality of target projection points, and performing zero setting processing on the non-key area; and performing visual detect