Cliff detection method and device, autonomous mobile device and storage medium

The embodiment of the invention provides a cliff detection method and device, an autonomous mobile device and a storage medium, and relates to the technical field of environment perception. According to the invention, the three-dimensional point cloud output by the depth sensor can be obtained; performing plane segmentation on the three-dimensional point cloud; screening one of the divided planes as the ground; and adopting different strategies to detect the cliff area according to a plane segmentation result and a ground screening result. The driving safety of the autonomous mobile device can be improved. 本申请实施例提供一种悬崖检测方法、装置、自主移动装置及存储介质，涉及环境感知技术领域。本申请可以获取深度传感器输出的三维点云；对所述三维点云进行平面分割；在分割出的平面中筛选其中一个作为地面；根据平面分割结果和地面筛选结果，采用不同的策略检测悬崖区域。本申请可以提升自主移动装置行驶的安全性。