Three-dimensional positioning method, system and device and storage medium

According to the three-dimensional positioning method, system and device and the storage medium, the binocular image is collected, the depth map of the binocular image is obtained, the binocular image comprises the first image and the second image, the depth map and the first image are aligned to obtain the alignment area of the first image and the depth map, and the alignment area is used for positioning the first image and the second image. And obtaining depth values of feature points in the aligned region according to the depth map, determining a non-aligned region of the first image and the depth map, determining depth values of corresponding feature points in the non-aligned region according to the matched feature points, and performing three-dimensional positioning according to the depth values of the feature points in the first image. As the view field of the depth image is smaller than that of the binocular image, the depth values of the feature points in the first image and the alignment area of the