The invention discloses a segment erection pose detection device and detection method. The segment erection pose detection device comprises a reference mark unit and an image acquisition unit, wherein the reference mark unit is used for being fixed on a segment to determine the pose coordinate system of the segment, and the image acquisition unit is used for acquiring an image of the segment and analyzing the image to obtain the pose coordinate system of the segment, so that the rotation posture and the translation position of the segment relative to the reference coordinate system are obtained; the reference coordinate system is preset according to the positioned to be installed of the segment. According to the segment erection pose detection device, the reference coordinate system is preset and the reference mark unit is arranged on the segment, therefore, the image of the segment can be acquired by a single imaging device (based on monocular vision), the rotation posture and the translation position of the segment relative to the reference coordinate system can be obtained by analyzing the image, and a reference is provided for the control of the segment, and thus the accurate erection of the segment can be realized.