The embodiment of the application relates to the technical field of
laser radar, and discloses a
centroid extraction method, a
laser radar, a
robot and a storage medium, the
centroid extraction method first acquires an original
echo signal curve output after a target object is detected by the
laser radar, divides the original
echo signal curve into N
continuous signal segment curves, determines an asymmetric
Gaussian convolution kernel matched with each
signal segment curve, then performs
convolution operation on the asymmetric
Gaussian convolution kernel and original energy values in the
signal segment curve to obtain first target energy values corresponding to the
signal segment curve, and the same is repeated until M first target energy values are obtained, and finally a
centroid is extracted according to the M first target energy values and corresponding pixel positions. The method adopts the asymmetric
Gaussian convolution kernel to perform the convolution operation, accurately fits local shapes of signals, differentiates and matches the asymmetric
Gaussian convolution kernel, improves the accuracy of centroid extraction, and further improves the
ranging accuracy of the laser radar.