Target pose recognition and positioning method

The invention discloses a target pose recognition and positioning method, which comprises the following steps of: preparing a checkerboard type calibration plate, shooting calibration plate images in various pose states by using a multi-view camera, accurately recording pixel coordinates of checkerboard angular points in each image, grabbing the calibration plate by using a robot, and carrying out target pose recognition and positioning on the calibration plate. Recording the actual position and posture of an end effector of the robot under each posture, carrying out joint calibration on the camera and the robot, taking parameters of the camera and the robot as optimization variables, determining an optimized objective function, preparing data for optimization, and taking the data as the input of an optimization problem for joint optimization; according to the method, the reprojection error and the robot calibration error can be minimized by jointly optimizing the parameters of the camera and the robot, so th