Ice detection is an important issue in the field of icing prevention and de-icing. In this study, an experimental platform was built for ice detection using flash pulse infrared thermal wave detection, followed by a quantitative recognition approach for identifying the three-dimensional shape of ice. The new method was combined the edge recognition with thickness calculation of inverse heat transfer problem. And the edge of the ice was based on the Principal Component Analysis (PCA) and the Canny algorithm. Thus, by processing the ice edges and giving an initial thickness, the finite element model of the ice was established to numerically simulate the temperature distribution for ice thickness inversion based on the forward heat transfer problem. Meanwhile, the thickness of the ice was inversed by the Levenberg-Marquardt (LM) method based on the inverse heat transfer problem. The resulting edges and thickness of the ice were found to be in good agreement with the experimental results, demonstrating the feasibility of the proposed methods. This paves the way to explore an effective accurate and quantitative identification method for three-dimensional ice shape detection in infrared thermal wave detection.