RGB-D visual positioning system and method for complex structure

The invention discloses an RGB-D visual positioning system and method for a complex structure. Normalization processing is carried out on a target image and a template image to realize data dimensionreduction so as to improve the calculation efficiency. Similarity comparison is performed after normalization, templates with the highest scores in k groups (k being an integer greater than 1) are selected, then, evaluation grouping is carried out according to viewpoint positions of the templates so as to cope with the situation of rotationally symmetric objects, finely, fine adjustment is performed on a target point cloud in a small angle range, finally, a best matching angle is found out, and a six-coordinate pose of the objects can be obtained through reverse operation. The method has the beneficial effect that the RGB-D positioning method has preferable robustness and also has broader adaptability for the shapes and poses of the objects through the innovation of an algorithm under thecondition of without incre