Industrial surface inspection is fundamental to advanced manufacturing, yet reliable robotic image acquisition in complex geometries remains challenging due to severe occlusions and the inherent trade-off between resolution and coverage. Inspired by human visual inspection behaviors and perception–action coordination mechanisms, this paper proposes a hierarchical trajectory optimization framework for robotic image acquisition based on measured point clouds. Specifically, a multi-constraint preprocessing model is developed to emulate human-like active perception strategies, enabling occlusion-aware viewpoint generation over complex concave and convex surfaces with adaptive camera orientation. Building upon this, a multi-objective trajectory optimization method is introduced to coordinate global coverage and local motion efficiency, jointly optimizing viewpoint sequencing, path length, and motion smoothness hierarchically. To further enhance flexibility in constrained environments, a Pose Reachability Augmented Generative Adversarial Network (PRAGAN) is proposed to learn feasible and adaptable imaging postures under kinematic constraints. Experimental results on an industrial robotic platform equipped with 2D and 3D vision systems demonstrate 100% coverage of key surface areas, a 47.0% reduction in path length, and a 37.5% decrease in solution time compared with the baseline in the physical experiments, while ensuring collision-free operation. Both simulation and real-world experiments validate that the proposed framework effectively captures human-inspired perception and motion coordination, providing a practical and scalable solution for complex industrial surface inspection.