Embodiments of the present application provide an object recognition method and device, an object recognition model training method and device, equipment and a medium. A sample three-dimensional image,
object label thereof, a plurality of sample three-dimensional
voxel graphs and an object recognition model to be trained are obtained. The object recognition model comprises a two-dimensional global
feature extraction network, a two-dimensional feature
processing network, a three-dimensional encoding / decoding network and a multi-dimensional
feature fusion network. The sample three-dimensional image and the sample three-dimensional
voxel graph are input into the object recognition model to obtain a first object prediction result of the sample three-dimensional image and a second prediction result of the sample three-dimensional
voxel graph. The parameters of the object recognition model are adjusted according to the first object prediction result, the second prediction result and the
object label. In this way, a trained object recognition model is obtained. Subsequently, the object in a three-dimensional image to be recognized is recognized based on the trained object recognition model, and the accuracy of object recognition is improved.