The embodiments of the present application provides a target detection method, which comprises: obtaining a plurality of images acquired by an image acquiring device as images to be detected when a region to be detected is illuminated by light sources with different illuminating angles, wherein the different illuminating angles correspond to the different images to be detected (S101); and determining whether a target exists in the region to be detected based on gray scale differences between the obtained images to be detected with illuminating by the light sources of with different illuminating angles (S102). The method is applied to achieve a simple and effective detection of the target existing in the region to be detected.