38860 results about "Imaging processing" patented technology

The invention discloses a high-precision image processing method and system based on illumination adaptive compensation, and relates to the technical field of computer vision and image processing, and the method comprises the steps: inputting an original image, and dividing the image into a high-frequency edge layer, an intermediate-frequency texture layer and a low-frequency illumination layer through a multi-scale residual network; acquiring illumination intensity, color temperature and scene categories in real time by using an ambient light sensor and a scene semantic segmentation model, and generating dynamic compensation parameters; carrying out dynamic range expansion on a low-frequency illumination layer based on a physical illumination model, and adjusting the weight of highlight suppression and dark area enhancement through a self-adaptive S-shaped exposure curve; a double-branch generative adversarial network is adopted, noise suppression and super-resolution reconstruction are carried out on the high-frequency layer, and texture detail enhancement is carried out on the intermediate-frequency layer; aligning the data of the depth camera and the infrared sensor with the visible light image through a cross-modal fusion module; and performing tone mapping on the fused image based on human visual characteristics, and outputting an enhanced image with a high dynamic range and reserved details.

A pattern which does not appear at a flat portion in normal binarization processing is set as a code pattern, and a code formed from this pattern is attached. At this time, code attachment with little degradation in image quality is implemented by selecting an unnoticeable pattern.

The invention discloses a glass lens surface scratch detection method and system, relates to the technical field of precision optical detection, and aims to solve the problems of scratch false detection, leak detection and poor algorithm adaptability caused by interference fringes, noise coupling and poor form adaptability in a high-reflection / complex coating process scene in the prior art. According to the scheme, an orthogonal polarization state composite light field is generated based on a multi-angle polarization light source array and a near-infrared compensation light source, and candidate regions are extracted through dynamic threshold segmentation and a direction gradient tensor matrix; gaussian pyramid multi-scale feature fusion and refraction angle consistency verification are utilized to eliminate artifact interference; constructing a direction constraint convolution kernel group to decompose scratches and background textures, and dynamically allocating computing resources in combination with a cascade network; feeding back closed-loop calibration light source wavelength and convolution kernel parameters in real time through coating parameters; according to the method, the precision and robustness of high-reflectivity surface scratch detection are remarkably improved, and meanwhile, the requirements for high-resolution image processing and real-time performance in a high-speed production line are balanced.

The invention discloses an image enhancement method and system in a complex coal mine environment, and relates to the technical field of image processing, and the method comprises the steps: carrying out the preprocessing of a collected coal mine image of a target region, and dividing the coal mine image into different semantic regions, including a bright region, a dark region and a dust shielding region, through a deep learning semantic segmentation model; according to semantic region characteristics, a differentiation enhancement strategy is made; a traditional Retinex model is improved, non-local mean filtering is introduced, and an illumination component and a reflection component are decomposed through pixel similarity matching. According to the method, the image is divided into the bright area, the dark area and the dust shielding area through the deep learning semantic segmentation model, differential enhancement strategies are formulated according to different area characteristics, detail distortion caused by global adjustment is avoided, local contrast suppression is adopted in the bright area, illumination compensation is enhanced in the dark area, and the image quality is improved. Noise diffusion of the dust shielding area is inhibited through edge preservation smoothing, the image quality of each area is remarkably improved, and it is ensured that image details in a complex coal mine environment are clear and visible.

The invention relates to the technical field of image detection, in particular to a PCBA board defect detection method and system based on image processing, and the method comprises the following steps: carrying out the meshing calculation of a gray scale deviation after a gray scale image is subjected to Gaussian filtering denoising, generating change rate data, carrying out the statistics of a frequency number, constructing a histogram, combining with an Otsu algorithm, and generating a candidate mask; extracting pixels based on a mask, calculating a gradient modulus, screening edge candidate points, carrying out gradient direction connection and morphological processing to generate a complete edge structure, expanding a connected domain through a region growing algorithm, aligning the connected domain with a template contour, and outputting defect coordinates. According to the method, the defect identification sensitivity is improved through combination of gray level image gridding processing and dynamic threshold calculation, a candidate mask is generated through grid gray level change rate statistics and an Otsu algorithm to avoid over-segmentation missing detection, and the contour precision is improved through combination of gradient modulus difference screening and morphological closed operation optimization. The region growing algorithm and template dynamic alignment reduce deformation misjudgment, and staged dimension reduction and feature enhancement reduce calculation complexity and solve resource waste.

The invention relates to the technical field of image processing, and discloses a backlight effect image edge enhancement method based on intelligent identification, which comprises the following steps of: judging a field environment type; performing global optimization on the original image based on a set environment perception type enhancement mechanism according to the judged field environment type, and outputting a global pre-processing image; constructing a backlight area segmentation model for the globally preprocessed image; outputting a local enhanced image; designing a structure perception type local adaptive threshold algorithm for the local enhanced image, and outputting a binary image keeping structural continuity; extracting an edge image of the binarized image through an edge detection algorithm, and optimizing a topological structure of a contour in the binarized image; and comparing with a wood template processing standard feature library, outputting an edge quality evaluation result and feeding back to a processing control system. Defect detection and machining control depth linkage is achieved, passive detection is changed into active optimization, and the production efficiency and the yield are improved.

The invention discloses an aluminum profile surface defect automatic detection method and system based on image recognition, and relates to the technical field of image processing and intelligent detection.The method comprises the steps that three-dimensional geometric data of the section of an aluminum profile are obtained through a three-dimensional scanning device, candidate observation angles and geometric feature parameters needed by coverage calculation are extracted, and the three-dimensional geometric data of the section of the aluminum profile are obtained; if the section shape contains a groove or a curved surface structure, marking a space coordinate range corresponding to the area of the shadow region to obtain a section geometric feature vector and a shadow region coordinate set; according to the aluminum profile surface defect automatic detection method and system based on image recognition, all-dimensional dead-corner-free detection of the surface of the aluminum profile is achieved, the method and system can adapt to the production takt of complex section shapes and changes, the accuracy and comprehensiveness of defect detection are improved, and effective technical support is provided for aluminum profile quality control.

The invention discloses a close planting farmland growth vigor assessment method and system based on image processing, and relates to the field of agricultural information, and the method comprises the following steps: S1, multi-source data collection and preprocessing; s2, improving image segmentation, and extracting crop features; and S3, multi-dimensional growth vigor evaluation. According to the method, the field block level, the plant level and the whole growth period are covered through multi-source data collection, a generative adversarial network is used for repairing and shielding the plant image and restoring complete form information, the segmentation problem in a close planting scene is solved, the accuracy of close planting crop image analysis is improved, accurate registration of multi-modal data is achieved by means of feature point matching, and the accuracy of close planting crop image analysis is improved. The graph neural network optimizes image segmentation, effectively distinguishes overlapped leaves and stalks, deeply fuses multi-modal features and dynamically selects a fusion strategy, improves feature distinguishability, constructs a dynamic adaptive evaluation model, improves generalization ability and evaluation precision, identifies and intervenes abnormities in real time, and improves crop anti-risk ability and yield prediction accuracy.

The invention relates to an image processing technology, and discloses an efficient panoramic image splicing method and system based on multi-view fusion, and the method comprises the steps: collecting a plurality of images from different views; performing multi-scale feature extraction on each image, generating a feature descriptor for each extracted feature point, and matching a corresponding feature point pair; performing multi-view geometric constraint screening on the feature point pairs; according to the screened feature point pairs, estimating a homography matrix between adjacent images, and carrying out global optimization on the homography matrix; aligning all the images into the same coordinate system; determining an overlapping region between adjacent images; and according to the pixel information in the overlapping areas, fusing the overlapping areas by adopting a self-adaptive weighted fusion algorithm so as to splice the plurality of images into a panoramic image. The invention further discloses a control device and a computer readable storage medium. The invention aims to improve the efficiency and accuracy of generating the multi-view fused panoramic image.

The invention, which relates to the technical field of image processing, discloses a city component automatic three-dimensional reconstruction method based on a sub-meter high-resolution remote sensing image, comprising the following steps: acquiring a sub-meter high-resolution remote sensing image of a target area, and establishing an initial ground-image projection mapping relation based on a rational polynomial coefficient model; acquiring a ground control point, correcting the mapping relation, and outputting a registration image; performing multi-view geometric matching on the registered image to generate dense earth surface point cloud, and inputting the dense earth surface point cloud into a semantic neural radiation field network to generate dense point cloud; performing cross-modal feature alignment and fusion on the dense point cloud and the vector data, and outputting a fused multi-source dense point cloud; according to the method, through fine correction of the multi-source remote sensing image, the problems of large registration error, more point cloud sparse noise and semantic deficiency are solved, and high-precision and automatic three-dimensional reconstruction of urban components is realized.

Presented herein are systems and methods for the employment of machine learning models for image processing as may be performed by computing devices associated with an end user. A method may include obtaining video data comprising a plurality of frames including a document of a document type. The method may include executing an object recognition engine of a machine-learning architecture using image data of the plurality of frames, the object recognition engine trained to detect edges of documents. The method may include identifying, based on the edge detection, a plurality of boundaries for the document. The method may include validating, based on the plurality of boundaries, the document as the document type. The method may include transmitting via one or more networks, to a computer remote from the computing device, responsive to the validation of the type of document, the image data for the plurality of frames depicting the document.

The invention discloses a quartzite surface defect detection method, system and device, and relates to the technical field of image processing, and the method comprises the following steps: fixing a to-be-detected quartzite on a detection platform, and carrying out preprocessing; constructing a double-path polarization imaging light path; polarization parameter optimization is carried out based on the optical anisotropy characteristic of quartz stone, so that a polarization state difference is generated between a defect area and a normal area; under the condition of polarization parameter optimization, synchronously acquiring a first polarization image and a second polarization image through a double-path polarization imaging light path; performing polarization difference calculation on the first polarization image and the second polarization image to generate a polarization difference image; and carrying out contrast enhancement processing on the polarization difference image, identifying a defect area, carrying out defect classification, and outputting a quartz stone surface defect detection result. By optimizing polarization imaging parameter configuration and combining image processing, high-precision detection and intelligent classification of quartz stone surface defects are achieved, and the automation level and reliability of detection are improved.

The invention relates to the technical field of medical image processing, and provides a medical image segmentation method based on wavelet enhancement and multi-scale feature fusion. According to the method, a CNN-Transform double-branch coding structure is combined, a multi-scale wavelet fusion module is provided, from the perspective of a frequency domain, Haar wavelet transform is adopted to extract an image high-frequency sub-band so as to enhance edge and texture detail expression, dynamic weighting is performed on different frequency band features through grouping convolution and a sub-band attention mechanism, and the discrimination capability is improved; meanwhile, a multi-scale cavity pyramid structure is fused in a spatial domain, and after cross attention dynamic fusion is introduced, a feature alignment mechanism of a wavelet domain and the spatial domain is established; and collaborative fusion of frequency domain and space domain features is realized. The method effectively improves the segmentation precision of the fuzzy boundary and the fine-grained structure under the complex background, has good universality and adaptability, and is suitable for various medical image segmentation tasks.

The invention discloses a cut workpiece defect detection method and system based on image feature feedback, and relates to the technical field of image processing.The method comprises the steps that cut workpiece technological characteristics are obtained, a preset defect type library is constructed, a hardware system is built, and parameters are initialized; synchronously acquiring a multi-view original image, and storing and associating annotation information; de-noising the original image, enhancing the contrast, and extracting a region of interest ROI; extracting texture, shape, edge and gray features from the ROI, and screening through a Relief-F algorithm to obtain an optimal feature subset; inputting into an SVM (Support Vector Machine) model for reasoning, and screening to obtain an effective defect detection result; and calculating an evaluation index and generating a feedback signal, and performing iterative optimization after adjusting parameters. The system comprises an acquisition module, a master control module, a data processing module and a display module. Through the precise design and closed-loop feedback of the whole process, the precision, efficiency and long-term adaptability of defect detection of the complex cutting workpiece are improved, and the industrial quality management and control requirements are met.

The invention relates to the technical field of image processing, and discloses an industrial part alignment method and system based on visual analysis and a storage medium. The method comprises the steps that a three-view camera collects an industrial part image, and preprocessing is carried out through gradient magnitude local contrast enhancement to obtain an enhanced image; performing hierarchical feature extraction to identify edge contours and key control points to form a multi-dimensional feature set; and establishing a dynamic reference coordinate system based on the feature set to obtain a part space attitude matrix. And the attitude deviation is compensated through Z-axis offset and rotation coupling error analysis. Posture adjustment is decomposed into a plurality of sub-stages, an alignment track is optimized by adopting a variable speed planning strategy, and accurate alignment of the parts is achieved. The problems that multi-view visual information fusion is insufficient, a special recognition algorithm for geometrical characteristics of the industrial parts is lacked, and Z-axis offset and rotation coupling error compensation is inaccurate in the posture adjustment process are solved, and the precision and stability of alignment of the industrial parts are improved.

The invention relates to the field of image processing, and discloses an intelligent drawing checking method and system based on a multi-modal large language model, and the method comprises the steps: obtaining a to-be-checked target engineering design drawing and a to-be-checked task description; generating a global overview drawing based on the target engineering design drawing; performing global semantic analysis according to the global overview map and the review task description through a multi-modal large language model, and generating a global semantic analysis result and to-be-reviewed local area proposal information; cutting a local image from the design drawing; performing element identification analysis on the local image through a multi-modal large language model to obtain local structured information; and performing information fusion processing on the local structured information and the global semantic analysis result, generating complete drawing information, performing compliance verification and defect positioning on the complete drawing information and the structured specification knowledge base, and generating a review report. According to the method, intelligent review of the power grid engineering design drawing can be realized, the review efficiency and accuracy are improved, and meanwhile, the resource consumption is reduced.

The invention discloses a CAD drawing segmentation parameter adjustment method and system combined with region recognition, and relates to the technical field of image processing, and the method comprises the steps: obtaining a target CAD drawing file, carrying out the region feature extraction, generating a region feature vector set, carrying out the region type recognition, and determining a plurality of pieces of region information; constructing a segmentation rule base, matching the segmentation rule base according to the information of the plurality of regions, and dynamically adjusting the boundary information according to a matching result to obtain a segmentation parameter set; based on the segmentation parameter set, performing adaptive segmentation processing on the target CAD drawing file to generate a structured drawing segmentation result; and based on the structured drawing segmentation result, carrying out topological relation verification, and generating a segmentation optimization result. According to the method, the technical problem of poor segmentation effect caused by inaccurate region identification and fixed segmentation parameters in the CAD drawing segmentation process in the prior art is solved, and the technical effects of improving the accuracy and adaptability of CAD drawing segmentation and optimizing the segmentation quality and the structural effect are achieved.

The invention relates to an image processing and data processing technology, in particular to an intelligent coagulant dosing control method and system based on image recognition and multi-parameter modeling, the floc state is accurately quantified through image recognition and deep learning modeling, and a dosing prediction model with self-adaptive capacity is established in combination with raw water feed-forward information. And accurate control of coagulant addition is realized. The method comprises the following steps: collecting a floc image, carrying out image processing and floc feature extraction, and constructing a floc image description vector; time sequence input structure data fusing the floc image and the water quality data is constructed, and floc image sampling at each moment is defined as a time frame; performing enhancement and reconstruction processing on the training data of the dosing amount prediction model by adopting a data enhancement and sample equalization strategy to obtain continuously distributed synthetic samples; and constructing a hierarchical feature fusion enhanced dosing amount prediction model, fusing the previous water quality parameters, the current water quality parameters and the floc image joint feature vectors, and optimizing the dosing amount prediction precision layer by layer.

The invention discloses a high-temperature airflow two-dimensional temperature field and velocity field synchronous measurement system and method based on laser-induced phosphorescence, and the system comprises phosphorescence particles, a low-frequency double-pulse laser, an image collection device, a synchronous controller, and an image processing device. The image processing device analyzes the gray intensity ratio of different wave band images acquired by the two PIV cameras at the same time, and combines a temperature response function calibrated by an experiment to realize inversion of a temperature field; meanwhile, a double-frame time-resolved image acquired by any PIV camera is subjected to cross-correlation calculation, particle displacement is extracted, and then a velocity field is reconstructed. According to the invention, synchronous acquisition of temperature and speed based on the same data source is realized, and the system has the remarkable advantages of simple structure, high measurement precision and wide application environment.

The invention relates to the technical field of image processing, and discloses a vehicle surface defect identification method and system based on artificial intelligence. The method comprises the following steps: acquiring a vehicle surface image through polarization filtering multi-angle imaging; processing the standardized image by applying HSV color conversion and texture equalization; constructing three-dimensional deformation features in combination with parallax analysis, and extracting defect feature vectors; and identifying defects by using the position-aware convolutional neural network, and outputting a severity thermodynamic diagram. According to the invention, in a complex illumination environment, tiny defects of vehicle surfaces with various colors and materials are accurately identified and evaluated, and accurate three-dimensional positioning and severity quantification of the defects are realized at the same time.

The invention relates to the technical field of image feature extraction, in particular to a motion data analysis method and system based on image processing, and the method comprises the following steps: collecting skeleton and inertial data, marking an action boundary, extracting a direction sequence, detecting a turning frame, analyzing a structural similarity labeling posture, screening a sudden change frame, and extracting an edge direction. And fusing direction optimization attitude features. According to the method, the image skeleton coordinates and the three-axis inertial data are synchronously obtained, the inter-frame displacement and the acceleration amplitude are paired, the action boundary marking time sequence precision is improved, the bidirectional change sequence is constructed according to the joint relative position difference and the angular velocity integral, the action trend recognition continuity is enhanced, and the recognition precision is improved. A main axis direction and a joint arrangement vector are extracted by sliding a frame window, a trend sequence is constructed in combination with structural similarity, attitude state dynamic labeling is realized, an edge direction is introduced to analyze and identify a sudden change frame, and the local sensitivity of skeleton offset detection and the abnormal frame detection precision are improved.

The invention discloses an intelligent pavement disease diagnosis method based on image recognition, and relates to the technical field of pavement disease diagnosis, and the method comprises the steps: deploying an image collection device and a pavement monitoring sensor in a target pavement region, so as to obtain multi-source pavement data; preprocessing the multi-source road surface data, and performing feature extraction to obtain a road surface feature sequence; and based on a deep learning algorithm and in combination with the pavement feature sequence, learning features of different disease types, constructing a disease identification classification model, and identifying different types of pavement diseases. Through the high-definition camera and the image processing technology, various disease types such as cracks, pit slots and ruts can be quickly and accurately identified, and in combination with a deep learning algorithm, disease features can be automatically extracted, high-precision identification of road diseases is realized, the disease detection efficiency is remarkably improved, manual intervention is reduced, and the detection efficiency is improved. And timely and accurate data support is provided for road maintenance.

The invention provides a multi-image forgery detection method and system based on a cross-modal vision large language model, and relates to the technical field of image processing and computer vision, and the method comprises the steps: constructing a data set, and carrying out the preprocessing of the data set; according to the preprocessed data, respectively extracting visual features and language features through a pre-trained visual Transform and a language model so as to obtain cross-modal features; according to the cross-modal features, the visual features and the language features are clustered, cross-modal similarity is calculated, a matching relation is established, fusion is carried out, and fused multi-modal features are obtained; and according to the fused multi-modal features, performing adversarial training through a generator and a discriminator to generate an adversarial network. According to the method, high-precision detection and effective detection of multiple image counterfeiting types such as positioning splicing, copying and pasting, AIGC generation and the like are realized.

The invention provides a microcrack precise segmentation method integrating feature fusion and convolution attention, and belongs to the field of image processing. According to the method, a crack segmentation network based on an encoder-decoder architecture is constructed, a convolution block attention module is introduced at an encoder end, background noise is adaptively suppressed and obvious characteristics of cracks are enhanced through a channel and space dual attention mechanism, and the method is suitable for the adaptive segmentation of the cracks on the premise of almost not increasing the calculation overhead. The sensitivity of the model to microcracks is improved; a feature fusion module is introduced at a decoder end, and cooperation of low-layer details and high-layer semantics is realized through cross-layer fusion, so that a semantic gap is effectively bridged, detail loss caused by traditional convolution stacking is avoided, and continuity and a complete topological structure of a long and narrow crack are ensured. According to the method, through collaborative optimization of multi-scale feature extraction and an attention mechanism, accurate capture of the saliency features of the crack and effective suppression of complex background interference are realized, and the detection sensitivity and overall segmentation consistency of the micro-crack are remarkably improved.

The invention provides an image segmentation method based on a deep learning remote sensing image, and relates to the field of image processing, and the method comprises the steps: S1, collecting a remote sensing image, carrying out the construction of a data set through the remote sensing image, and completing the data preprocessing; s2, constructing a remote sensing image semantic segmentation model; and S3, training, verifying and optimizing the remote sensing image semantic segmentation model constructed in the step S2 by adopting the data set in the step S1 to complete model construction. According to the method, segmentation precision and expression consistency are improved through multi-branch deep collaborative modeling, so that robustness of the model in boundary fuzzy, small target and label defect areas is improved; meanwhile, the method adopts multi-scale path segmentation, adaptive attention fusion and a residual error inverse MLP structure, more efficient multi-level feature representation is realized, and dynamic balance of global and local modeling relations is realized.

The invention discloses an image processing method and device and a storage medium. The method comprises the steps of obtaining a to-be-simulated 3D convolution model and training data; decomposing the 3D convolution model into cascading of a 3D space convolution model and a 3D time convolution model to obtain a pseudo 3D cascading convolution model; training a pseudo 3D cascade convolution modelby using the training data, and obtaining parameters of a 3D spatial convolution model and a 3D time convolution model; converting the 3D space convolution model and the 3D time convolution model intoa 2D space convolution model and a 2D time convolution model; setting a feature rearrangement rule for the 2D spatial convolution model and the 2D time convolution model; mapping model parameters ofthe 3D spatial convolution model and the 3D time convolution model into parameters of a 2D spatial convolution model and a 2D time convolution model to obtain a 2D cascaded convolution model; and performing convolution operation on the image by using the 2D spatial convolution model and the 2D time convolution model. By means of the mode, image processing conducted through 3D convolution operationcan be achieved through the 2D convolution model.

The invention relates to the technical field of image processing, in particular to an anti-collision beam weld defect detection method and system based on image processing, and the method comprises the steps: carrying out the image collection of a weld region of a produced anti-collision beam, and obtaining a gray image; the method comprises the following steps: performing initial partitioning on a grayscale image, respectively obtaining a local complexity index of each initial sub-block, obtaining at least two adaptive sub-blocks based on the local complexity index of each initial sub-block, and performing adaptive local histogram equalization on each adaptive sub-block to obtain a target grayscale image; the method comprises the steps of performing edge detection on a target grayscale image to obtain at least two edge pixel points, performing frequency domain conversion on the target grayscale image according to a gradient direction of each edge pixel point to obtain a frequency domain image, performing filtering processing and time domain conversion on the frequency domain image to obtain a denoised image, and identifying defects in the denoised image by using a neural network. And the defect detection efficiency is improved by inhibiting the periodic texture in the weld seam image.

The invention relates to the technical field of medical instruments, and discloses a laparoscope and digestive endoscope combined positioning measurement system and method.The method comprises the steps of positioning mark initialization, image feature analysis, instrument path planning, dynamic positioning calibration, operation integrity evaluation and the like. Spatial matching is realized by setting multiple types of positioning marks and utilizing optical reflection signals, noise reduction and feature extraction are performed on endoscope imaging data to generate a measurement area boundary, an operation path is planned in combination with anatomical path information, the tail end position of an instrument is calibrated in real time, and operation integrity is evaluated. The system comprises a positioning module, an analysis module, a correction module and an integration module which are respectively used for realizing the functions of positioning mark setting, image processing and path generation, offset correction and operation evaluation. According to the system, the operation positioning precision and the operation safety are improved, intellectualization and precision of minimally invasive surgery are achieved, and the system is suitable for minimally invasive treatment of digestive system diseases.

The invention discloses a visual inertial positioning method based on dynamic target detection and semantic information constraint, and belongs to the field of motion estimation and dynamic environment processing. According to the method, a dynamic target detection mechanism is introduced, the dynamic target is effectively detected based on the target detection network, inertial navigation information and geometric constraints, the dynamic target is effectively recognized in the image processing process, the corresponding dynamic feature points are screened out, the mismatching rate of the dynamic features is remarkably reduced, and high-quality observation input is provided for back-end optimization. In the back-end sliding window optimization stage, a semantic information consistency constraint method is constructed, and the estimation stability of the system in a weak texture area or a repeated texture area is enhanced by utilizing the consistency of feature points in the same semantic area on a geometric structure. Visual inertia pose estimation is realized based on dynamic target detection and semantic information constraint, and high-robustness and high-precision pose estimation can still be realized in a complex environment with dynamic interference of pedestrians, vehicles and the like and severe scene change.

The invention discloses a robot unstacking grabbing pose estimation method based on an image segmentation model, and relates to the technical field of image processing, and the method mainly comprises the steps: taking a two-dimensional detection frame as a positioning basis, inputting an image segmentation model, generating a pixel-level mask of a grabbing target, mapping the pixel-level mask to a three-dimensional point cloud which is registered with the pixel-level mask, and carrying out the positioning of the three-dimensional point cloud; extracting a point cloud subset of the captured target according to a mapping result; normal vector estimation and direction consistency processing are carried out on the point cloud subsets, and division of point cloud clusters corresponding to each independent surface of the grabbing target is carried out by taking direction consistency as a clustering segmentation basis; calculating the mass center position of each independent surface of the grabbed target according to the divided point cloud clusters, and extracting a local point cloud within a preset radius range of the mass center; and the average point of the local point cloud serves as a grabbing point, the average normal vector of the local point cloud serves as the grabbing direction, and the grabbing pose of the robot is generated. According to the invention, when the object is inclined, stacked tightly or shaped irregularly, the point cloud subset mapped by the mask can still accurately eliminate the interference of the background and the adjacent object.