The present disclosure provides a method and apparatus of obtaining obstacle information, a device and a computer storage medium, wherein the method of obtaining obstacle information comprises: obtaining scenario data synchronously collected by a laser radar device and a camera device; using point cloud top view data in the scenario data to perform obstacle recognition to obtain a point cloud set of candidate obstacles; using fusion features of the scenario data corresponding to the point cloud set of the candidate obstacles to perform obstacle recognition to obtain specific obstacle information. The technical solution according to the present disclosure enables accurate obtainment of specific obstacle information, thereby enhances the sensing capability of the self-driving vehicle and improves safety of the self-driving vehicle.