The invention provides a target object positioning method and device, a storage medium and equipment, and belongs to the technical field of
big data processing. The method comprises the steps that collected
laser points are projected to an image coordinate
system from a designated coordinate
system; dividing
laser points projected to an image coordinate
system based on m targets detected in the collected
video image; under an image coordinate system, performing first round of dirty point filtering on each obtained
laser point set; under an appointed coordinate system, performing next round ofdirty point filtering on each laser
point set subjected to the first round of dirty point filtering, and clustering each laser
point set subjected to the next round of dirty point filtering; and for each target object, calculating the distance from the vehicle to the target
object based on the target laser point subset in the y laser point subsets corresponding to the target object. According to the method, the advantages of
visual detection in the aspect of verifying the existence of the obstacle and laser in the aspect of
distance measurement are fused, and accurate positioning of the targetobject is achieved.