Abstract: A sound source positioning method and apparatus, a computer-readable storage medium, and a sound pickup apparatus are provided, for accurately locating a sound source by using a microphone array and a radar. The method includes: obtaining first location information by using echo data of a radar (201), where the first location information includes a first angle of an object relative to the radar; obtaining an incident angle by using a voice signal captured by a microphone array (202), where the incident angle is an angle at which the voice signal is incident to the microphone array; and fusing the first angle and the incident angle to obtain second location information (205), where the second location information indicates a location of a sound source generating the voice signal.

Abstract: A gesture recognition method and a related apparatus are provided, to obtain a first point cloud data set by filtering an original point cloud data set collected by a radar apparatus. The first point cloud data set includes a plurality of frames of first point cloud subsets, the first point cloud subset includes a first cluster center, the first cluster center is a cluster center of a plurality of pieces of point cloud data in the first point cloud subset, a maximum horizontal distance between any two first cluster centers meets a first preset condition, and duration of the first point cloud data set meets the first preset condition. Point cloud data whose motion track does not match gesture motion can be effectively filtered out. Gesture recognition is performed by using the first point cloud data set obtained by filtering.