Binocular camera depth calibration method, device and system, and storage medium

A binocular camera depth calibration device, comprising:

• a disparity map acquisition unit configured to acquire a plurality of groups of images of a 2D code calibration board at a plurality of positions, and process the plurality of groups of images so as to acquire a plurality of disparity maps of the 2D code calibration board;
• a template image acquisition unit configured to extract an image calibration board region corresponding to each monocular camera from each of the plurality of disparity maps and acquire a 2D code template image of a target region;
• an image matching unit configured to match the 2D code template image with all images corresponding to the monocular camera at the image calibration board region so as to determine and store matching region information;
• an average disparity value acquisition unit configured to determine a position of the 2D code template image in each disparity map in accordance with the matching region information, and calculate an average disparity value of the 2D code template image at the position;
• a final disparity value acquisition unit configured to acquire a plurality of groups of average disparity values through extracting a plurality of image calibration board regions, and calculate a final disparity value in accordance with the plurality of groups of average disparity values;
• and
• a calibration unit configured to calibrate a depth of a binocular camera in accordance with the final disparity value,
• wherein the disparity map acquisition unit is further configured to:
• acquire a distance between a position of the 2D code calibration board and the binocular camera;
• and
• collect 10 groups of images every other meter when the distance is 3 m to 12 m, or collect 10 groups of images every other two meters when the distance is 10 m to 30 m, or collect 10 groups of images every other five meters when the distance is 5 m to 50 m.