The invention discloses a monocular 6D pose estimation method based on a regular icosahedron. This method combines the ArUco code with the icosahedron, and then uses the monocular camera to collect the icosahedron image marked by the ArUco code, calculates the spatial three-dimensional coordinates of the center point of the ArUco code, and obtains the sparse point cloud of its inscribed sphere , and then use multivariate nonlinear fitting and iterative closest point algorithm to compare the virtual icosahedron at the camera coordinates, and then calculate the spatial displacement and rotation angle of the current icosahedron, and indirectly calculate the pose of the measured object . This method overcomes the high requirements of the existing methods on lighting, environment and equipment, detects quickly, and improves stability; it does not need to invest a lot of energy in the early stage for template collection or model training, which significantly reduces the cost of pose estimation and ensures Pose estimation accuracy and enhanced versatility, and can perform pose estimation of large-scale motion of objects.