An obstacle recognition method and apparatus, a computer device, and a storage medium are provided. The method comprises: acquiring point cloud data scanned by LiDAR and time-sequence pose information of a vehicle (S101); determining a spliced image of a bird's eye view according to the point cloud data, the time-sequence pose information, and a historical frame embedded image (S102); inputting the spliced image into a preset first CNN model to obtain a current frame embedded image and pixel-level information of the bird's eye view (S103); determining recognition information of at least one obstacle according to the current frame embedded image and pixel-level information (S104).