Ground auxiliary line-based external parameter calibration method and device

The invention discloses an external parameter calibration method and device based on a ground auxiliary line. The method comprises the following steps: acquiring image data after alignment of an RGB image and a depth image of the ground auxiliary line; obtaining coordinates of each identification point in a camera coordinate system, and performing straight line fitting in the camera coordinate system to obtain a direction vector of a fitted straight line; a ground plane equation is obtained, and rotation matrix representation of the forklift coordinate system under the camera coordinate system is calculated according to the direction vector of the fitted straight line and the normal vector of the ground plane; coordinates of the original point of the forklift coordinate system in the camera coordinate system are obtained; and according to the rotation matrix representation of the forklift coordinate system in the camera coordinate system and the coordinate of the original point of the forklift coordinate syst