Method and system for distance measurement based on binocular camera, device and computer-readable storage medium

A system for distance measurement based on a binocular camera, comprising:

• a photographing module configured to take N images of a distance measurement marker placed at each of Z positions in a depth direction of the binocular camera, the distance measurement marker being placed at a middle position, a left side position and a right side position of a horizontal width of the binocular camera, Z and N each being an integer greater than 1;
• an average disparity calculation module configured to calculate an average disparity of the distance measurement marker at the middle position, the left side position and the right side position at each of the Z positions;
• a depth direction distance measurement value calculation module configured to calculate a distance measurement value at each of the Z positions in the depth direction in accordance with a base line of the binocular camera, a focal length of the binocular camera, and the average disparity;
• a total error cost calculation module configured to calculate a distance measurement error value at the middle position, the left side position and the right side position at each of the Z positions, and acquire a total error cost function in accordance with the distance measurement error value at each of the Z positions;
• and
• an extrinsic parameter calculation module configured to calculate extrinsic parameters, comprising a translation matrix T and a rotation matrix R, in the case that the total error cost function has a minimum value, so as to acquire a distance measurement result in the depth direction.