Radar noise filtering method and device, upper computer and laser radar

The invention discloses a noise filtering method and device for a radar, an upper computer and a laser radar. The method comprises the steps of converting point cloud data from the radar at the current moment into a depth map corresponding to a current frame; a depth map corresponding to a historical frame is obtained, the historical frame is a frame corresponding to a historical moment before the current moment, and the number of the historical frame is one or more; whether adjacent points exist at the corresponding positions of the points in the depth map corresponding to the current frame in the depth map corresponding to the historical frame or not is judged, and if the distance between the two points is smaller than a threshold value, the adjacent points are the adjacent points; and the points of the neighbor points at the corresponding positions in the historical frame in the depth map corresponding to the current frame are reserved, and the reserved points are not filtered out as noisy points. Accordin