The invention relates to a fire fighting access monitoring method, device and equipment and a storage medium. The method comprises the steps of collecting image data containing color and depth information and passing standard parameters; analyzing the color information, and generating a semantic
mask of the channel region and an independent identifier of each occupied object; fusing the semantic
mask and the depth information, reconstructing a three-dimensional scene
point cloud of the channel, and separating a three-dimensional
point cloud cluster of each object; analyzing the
point cloud to determine the main direction and key obstacle points of the channel, constructing a dynamic evaluation cross section, and delimiting a standard traffic area; and comprehensively calculating the projection occupation condition of each object on the cross section, and generating a quantitative channel comprehensive availability index and an
evaluation result. According to the method, the limitation that in the prior art, only whether occupation or not can be carried out is overcome, real-time and accurate three-dimensional space availability quantitative evaluation on the fire fighting access is achieved, and visual
traffic capacity data support can be provided for fire fighting emergency
decision making.