The invention discloses a
visual capture method and device based on a depth image and a readable storage medium. The method comprises steps that a
point cloud image is acquired through a depth cameraKinect, the acquired
point cloud image is segmented through an RANSAN random sampling
consensus algorithm and an Euclidean clustering
algorithm, and an identification-needing target object is acquiredthrough segmentation; 3D global characteristics and color characteristics of the object are respectively extracted and are fused to form a new global characteristic; off-line training of a multi-class
support vector machine classifier SVM is carried out through utilizing the new global characteristic of the object, category of the target object is identified through utilizing the trained multi-class
support vector machine classifier SVM according to the new global characteristic; then the category and the grasping position of the target object are determined; and lastly, according to the category of the target object and the grasping position of the target object, a
manipulator and a gripper are controlled for grasping the target object to the specified position. The method is advantagedin that the target object can be accurately identified and grasped.