Target detection method and device based on data synthesis, electronic equipment and medium

The invention provides a target detection method and device based on data synthesis, electronic equipment and a medium. The method comprises the following steps: acquiring multi-view image data, original point cloud data, an initial detection frame and a pre-created virtual model; rendering the virtual model into the multi-view image data, and generating new multi-view image data; updating the original point cloud data based on the mutual relation between the virtual model and the original point cloud data; updating the initial detection frame according to the spatial position of the virtual model; training a perception model by using the new multi-view image data, the updated point cloud data and the updated detection frame to obtain a trained perception model; and taking actually acquired multi-view image data and point cloud data around the vehicle as input of the trained perception model, performing target detection by using the trained perception model, and outputting a target detection result. According