The precise recognition of feature points of impedance cardiogram (ICG) is the precondition of calculating hemodynamic parameters based on thoracic bioimpedance. To improve the accuracy of detecting feature points of ICG signals, a new method was proposed to de-noise ICG signal based on the adaptive ensemble empirical mode decomposition and wavelet threshold firstly, and then on the basis of adaptive ensemble empirical mode decomposition, we combined difference and adaptive segmentation to detect the feature points, A, B, C and X, in ICG signal. We selected randomly 30 ICG signals in different forms from diverse cardiac patients to examine the accuracy of the proposed approach and the accuracy rate of the proposed algorithm is 99.72%. The improved accuracy rate of feature detection can help to get more accurate cardiac hemodynamic parameters on the basis of thoracic bioimpedance.