Distance measurement method and device, electronic equipment and readable storage medium

The invention provides a distance measurement method and device, electronic equipment and a readable storage medium. The method comprises the steps: acquiring a first image and a second image shot bya binocular camera; obtaining a first sub-graph containing a target object according to the first image; obtaining a second sub-graph containing the target object according to the second image; according to the feature pixel points of the target object, calculating parallax of the target object in the first sub-image and the second sub-image; and calculating the distance between the target objectand the binocular camera according to the parallax and the camera parameters of the binocular camera. According to the method and device, the feature pixel points with high object matching degree areobtained through the sampling strategy for sparse matching, the calculation complexity of the algorithm is reduced, the requirement for the object texture is not high, the accuracy of the estimation result of the initial parall