A vision-guided picking and placing method for a mobile robot that has a manipulator having a hand and a camera, includes: receiving a command instruction that instructs the mobile robot to grasp a target item among at least one object; controlling the mobile robot to move to a determined location, controlling the manipulator to reach for the at least one object, and capturing one or more images of the at least one object using the camera; extracting visual feature data from the one or more images, matching the extracted visual feature data to preset feature data of the target item to identify the target item, and determining a grasping position and a grasping vector of the target item; and controlling the manipulator and the hand to grasp the target item according to the grasping position and the grasping vector, and placing the target item to a target position.