Object recognition method and device based on triangular mesh simplified template

The invention discloses an object recognition method and device based on a triangular mesh simplified template, and belongs to the technical field of three-dimensional vision. The method comprises thesteps: obtaining background point cloud containing a to-be-matched object; based on the triangular mesh simplified template of the to-be-matched object, matching the triangular mesh simplified template with the background point cloud to obtain the position and attitude of the to-be-matched object in the background point cloud. On the one hand, due to the fact that simplification based on a triangular mesh is adopted, the characteristics of an original model are reserved, the method can well adapt to PPF and ICP matching algorithms based on model and background point pair characteristics, andthe matching precision is guaranteed; on the other hand, the data volume of the simplified model is greatly reduced, so the defect that the processing speed of the matching algorithm is low when the data volume is large is ove