Road edge detection method and device based on image point cloud fusion

The invention relates to a road edge detection method and device based on image point cloud fusion, and the method comprises the steps: obtaining a plurality of data sets corresponding to a plurality of preset distance ranges in a vehicle driving direction; the data set comprises image data and point cloud data; extracting a preset number of corresponding point data sets from each data set to construct a matched data set, wherein each corresponding point data set comprises pixel point coordinates and point cloud coordinates; solving a PnP problem based on the matched data set, obtaining a group of rotation matrixes and translation matrixes, testing the rotation matrixes and the translation matrixes, and if a test result meets a preset requirement, outputting the rotation matrixes and the translation matrixes; when the vehicle runs, current image data and current point cloud data in the current vehicle running direction are collected in real time, and image and point cloud fusion information used for represent