Abstract: Provided are a laser coarse registration method, device, mobile terminal and storage medium, the method comprises: determining the position information of obstacles around a robot; converting the position information of the obstacle into an obstacle image; acquiring map data of a pre-established probability map; converting the map data into a map image; carrying out matching processing on the obstacle image and the map image through a convolutional neural network to obtain a coarse registration position of the robot on the map image. The laser coarse registration method carries out convolution matching processing on the obstacle image and the map image obtained by the robot through the convolutional neural network, achieves the coarse registration of laser data collected by the robot and the probability map, the registration range is expanded, and the precision of coarse registration is improved.