Laser radar noise filtering method and device, autonomous mobile device and storage medium

The embodiment of the invention provides a laser radar noise filtering method and device, an autonomous mobile device and a storage medium, and relates to the technical field of environmental perception. The current frame point cloud output by the laser radar can be acquired; according to a target angle corresponding to each point in the current frame point cloud and the distance between each point and an adjacent point, noise point filtering is carried out on the current frame point cloud to obtain a residual point cloud, and the target angle is an angle of a connecting line of a front point and a rear point of each point relative to the initial scanning direction of the laser radar; and filtering noisy points of the residual point clouds according to the spatial and temporal distribution condition of the residual point clouds to obtain final point clouds of the current frame. The accuracy and efficiency of filtering the noise points of the laser radar can be improved. 本申请实施例提供一种激光雷达噪点滤除方法、装置、自主移动装置及存储介质，涉及环