Forklift pallet detection and positioning method and system

The invention discloses a forklift pallet detection and positioning method, and the method comprises the steps: carrying out the rasterization of an obtained depth image in a current scene, and generating a corresponding grid image; carrying out region growth on the grid image to obtain candidate frame regions of a plurality of to-be-detected targets, calculating the inclination degree of each to-be-detected target, and carrying out template adaptive processing on a preset tray grid image standard template according to the inclination degree of each to-be-detected target to generate respectivecorresponding pallet grid image templates; carrying out pixel matching on the candidate frame area of each to-be-detected target and the corresponding adaptive tray grid image template, and if matching succeeds, obtaining the candidate frame area of the target pallet; and converting the grid image of the candidate frame area of the target pallet into a corresponding depth image to obtain the target pallet in the depth im