Laser point cloud and image fusion method and device

The invention discloses a laser point cloud and image fusion method and device. When the method is executed, acquisition information of a surrounding environment of a vehicle is acquired, static joint calibration is carried out on a camera and a laser radar to obtain joint calibration parameters, in a vehicle moving state, single-frame point cloud in laser point cloud and inertial navigation data are fused, a spatial transformation matrix of target point cloud points is constructed, and then the target point cloud is calculated according to the spatial transformation matrix. And converting a plurality of point cloud points except the target point cloud point in the single-frame point cloud into a laser radar coordinate system corresponding to the camera shooting time to obtain a converted laser point cloud, and finally fusing the converted laser point cloud with the image information according to the joint calibration parameter to obtain a fused laser point cloud. Through the mode, static space joint calibrat