Object positioning method and device

The embodiment of the invention provides an object positioning method and device, and relates to the technical field of data processing, and the method comprises the steps: obtaining a first point cloud of a to-be-positioned object, and selecting a first reference point from surface points in the first point cloud; a first point pair feature between each first reference point and a first feature point in a first neighborhood of the first reference point is constructed, and the first feature points comprise surface points and edge points located in the first neighborhood in the first point cloud; matching the first point pair feature corresponding to each first reference point with a second point pair feature included in a pre-constructed point cloud model of the object, and determining a matching pose corresponding to each first reference point based on a matching result; and positioning the object based on the matching poses corresponding to the first reference points. By applying the scheme provided by the