This invention provides an obstacle segmentation method, apparatus, electronic device, and storage medium, relating to the field of target recognition technology. The method includes: acquiring translational and rotational extrinsic parameters of multiple sensing devices in a device coordinate
system, wherein the multiple sensing devices are positioned on a
device under test corresponding to the device coordinate
system; the translational extrinsic parameters are determined based on the spatial position parameters of each sensing device in the device coordinate
system, and the rotational extrinsic parameters are determined based on the attitude tilt angle parameters of each sensing device in the device coordinate system; calculating a global
point cloud based on the translational and rotational extrinsic parameters, wherein the global
point cloud is a stitched result of the point clouds of multiple sensing devices in the device coordinate system; performing ground segmentation on the global
point cloud, removing the ground point cloud to obtain an obstacle point cloud; projecting the obstacle point cloud into a two-dimensional grid map, and determining the obstacles corresponding to the obstacle point cloud based on the two-dimensional grid map. This application can meet the stable
perception requirements of autonomous driving systems in complex environments.