Volume measurement method and device based on depth camera and computer readable medium

The invention provides a volume measurement method and device based on a depth camera and a computer readable medium. The method comprises the steps that a first depth image of a reference table board is collected, the first depth image comprises coordinate data and depth data of a plurality of pixel points, and the reference table board is suitable for placing a measured object; substituting the coordinate data and the depth data into at least two table facet empirical equations to obtain at least two analog images, wherein each table facet empirical equation is used for representing a height change mode of the reference table facet; calculating the correlation between each analog image and the first depth image; taking the simulation image with the maximum correlation as a target image of the reference table board; the table top height of the reference table top is obtained according to the target image, the table top height is used for calculating the height of the measured object, and the height is used f