Working method of workpiece positioning device based on CAD model

The invention relates to a working method of a workpiece positioning device based on a CAD model, and the method is characterized by comprising the following working steps: S1, analyzing the pose state of a workpiece to be processed on the workpiece positioning device, and determining a state set X = [x, y, theta] T to be solved; S2, initializing an annealing particle filtering algorithm, and obtaining edge feature information and silhouette feature information of an actual workpiece image by a monocular camera; S3, performing resampling (the total number of annealing layers is M) on the basisof the m-th layer of particle set by THE annealing particle filtering algorithm; S4, according to the pose represented by each particle, carrying out virtual projection image of a camera on the CAD model; S5, matching a virtual projection head portrait with the actual workpiece image, calculating a likelihood probability weight value according to the edge features and the silhouette features, andforming a new particle se