The invention provides a Kinect-based
pallet dynamic identification and location method and
system, and a medium. The method comprises the steps of first, calculating extrinsic camera parameters; second, acquiring color and depth images, aligning the color and depth images, screening out effective points according to gray-scale and depth data and converting the effective points into a
point cloud;third, pre-
processing the
point cloud obtained in the second step; fourth, performing Euclidean clustering on the
point cloud processed in the third step; fifth,
processing a cluster obtained in thefourth step, and extracting a characteristic plane; sixth, matching a characteristic plane point cloud with a front end surface of a
pallet; and seventh, performing geometry calculation, and determining a position and a
deflection angle of the
pallet relative to a world coordinate
system origin. The method and
system have the beneficial effects that the pallet is identified mainly based on the characteristic of the front end surface of the pallet as well as the three-dimensional size of the pallet, the robustness is high, a set target point in the pallet can be identified accurately and a geometric center of the pallet can be calculated when only a half end surface is seen, the dynamic performance is high, and accurate location is realized.