Camera extrinsic parameter estimation method and device suitable for escalator

The invention discloses a camera external parameter estimation method and device suitable for an escalator, and the method comprises the steps: S1, selecting a plurality of marking points on the escalator, pasting the marking points on the escalator, determining an original point and a coordinate axis, and measuring the initial world coordinates of each marking point relative to the original point; s2, acquiring an escalator picture containing a calibration point by using a camera; s3, the escalator is started, and the calibration point moves along with the escalator; s4, calculating the position of the calibration point in the movement, and obtaining a world coordinate system of the calibration point; and step S5, according to the shooting sequence, correspondingly calculating the image coordinate system position of the calibration point in motion, estimating the pose relationship between the camera and the escalator, re-projecting the world coordinate of the calibration point to the shot image, calculating