The invention discloses a sparse point cloud segmentation method and device. Relating to the field of image processing, the method comprises the following steps of: obtaining a target object, acquiring target two-dimensional image data shot by a camera and target three-dimensional point cloud data under the laser radar; performing joint calibration on the camera and the laser radar, generating calibration parameters, performing target detection on target two-dimensional image data, extracting three-dimensional points which can be converted to a target two-dimensional boundary frame according to a target detection result and a selection principle, generating three-dimensional cone point cloud containing target information, and finally performing point cloud segmentation to generate target point cloud. In the prior art, a laser radar combination fusion mode is used to carry out point cloud segmentation. According to the method, the equipment cost is reduced, the three-dimensional cone point cloud containing the target information is obtained according to the selection principle, then point cloud segmentation is carried out to remove the noise point cloud, the point cloud segmentation precision and efficiency are improved, and the method has a good practical application value.