Binocular camera calibration method and device, equipment and medium

The embodiment of the invention discloses a binocular camera calibration method and device, equipment and a medium. The method comprises the steps: carrying out the hand-eye calibration of all to-be-calibrated cameras, and obtaining a coordinate transformation matrix corresponding to each to-be-calibrated camera; acquiring an image of the target object in the visual field of each to-be-calibratedcamera, and determining a geometrical relationship between vectors formed by the feature points in the image; and obtaining coordinates of the feature points in the target coordinate system accordingto the coordinate transformation matrix, and determining a physical distance between the to-be-calibrated cameras according to the coordinates of the feature points in the target coordinate system andthe geometrical relationship. According to the binocular camera calibration method provided by the embodiment of the invention, the coordinates of the feature points under the target coordinate system are obtained according to