Obstacle type and distance identification method and device based on monocular vision, medium and equipment

The invention relates to an obstacle type and distance identification method based on monocular vision, and the method comprises the steps: obtaining a target image which is shot by a monocular camera and contains an obstacle and a reference object, and enabling the distance between the reference object and the camera to be equal to the distance between the obstacle and the camera, the width of the reference object in the picture is obtained based on the target image, the distance between the reference object and the camera is calculated based on the width of the reference object in the picture, the actual width of the reference object and the focal length of the camera, and then the distance between the obstacle and the camera is obtained. The distance between the obstacle and the camera can be calculated only by acquiring the target image through the monocular camera and analyzing the target image through the distance calculation method, and efficient monocular subway obstacle type and distance detection ca