Workpiece pose estimation method and system

The invention discloses a workpiece pose estimation method and system, and relates to the technical field of pose estimation, and the method comprises the steps: obtaining an original point cloud of a to-be-measured workpiece, carrying out the preprocessing of the original point cloud, obtaining a template point cloud, and determining the pose information of the template point cloud based on a principal component analysis method; acquiring a real-time point cloud of the to-be-detected workpiece, and screening out a plurality of first point pairs based on a preset point cloud overlapping degree according to the distance between each data point in the template point cloud and each data point in the real-time point cloud; wherein the first point pair comprises a contrast point and a corresponding point thereof, the contrast point is a data point in the template point cloud, and the corresponding point is a data point in the real-time point cloud; screening the first point pairs according to a preset normal vecto