The invention provides an object edge detection method and device and a storage medium. The method comprises the steps of when a laser radar emitter carries out omnibearing scanning on an object, foreach detection signal emitted by the laser radar emitter, if a laser radar receiver receives a plurality of echo signals of the detection signal, judging whether a difference value of timestamps of atleast one pair of echo signals in the echo signals is greater than a preset threshold value or not, and if so, selecting a generation point closest to the laser radar from the generation points of the echo signals as an edge point of the object. The precision of object edge detection is improved.