The application relates to the technical field of automatic driving, and specifically provides a clustering method, a target contour and type acquisition method, equipment, a medium and a vehicle, and aims to solve the problem of improving
point cloud clustering accuracy. The method provided by the application comprises the following steps: voxelizing a three-dimensional
point cloud to form a plurality of voxels; establishing an index relationship between each
voxel and a first neighborhood
voxel with the smallest spatial position in the neighborhood of each
voxel; establishing a plurality of clustering trees according to the index relationship of each voxel; and respectively merging a second neighborhood voxel in each voxel and the neighborhood of each voxel into the same clustering tree, wherein the second neighborhood voxel is a neighborhood voxel similar to the multi-source information between the voxels, and the multi-source information comprises result information corresponding to the voxels in the results of each target
perception task after the three-dimensional
point cloud is subjected to a plurality of target
perception tasks. Through the above method, the efficiency and accuracy of point cloud clustering can be improved simultaneously, and the accuracy of target classification according to the clustering result is improved.