Obstacle detection method and device, equipment and storage medium

The invention discloses an obstacle detection method, apparatus and device, and a storage medium. The method comprises the steps of filtering a depth image point cloud by using a voxel filter to obtain an effective point cloud; obtaining a plurality of plane models through fitting according to the effective point clouds; screening out a target plane model from the plane models according to the interior points, and adjusting model parameters of the target plane model to obtain an adjusted target plane model; and obtaining a placement position of the depth camera, and when determining that the adjusted target plane model is an effective plane according to the placement position, taking an outer point corresponding to the adjusted target plane model as an obstacle. According to the method, the depth image point cloud acquired by the depth camera is segmented through voxel filtering and random fitting, and after the target plane model corresponding to the ground is screened out, the obstacle can be acquired accor