Extended distance measurement method and system based on flight time

The invention provides an extended distance measurement method and system based on flight time, and the method comprises the following steps: carrying out the probability modeling of the amplitude and distance of a target object q, and obtaining an amplitude-distance probability curve model of the target object q; constructing a reference function for judging amplitude-distance correlation; acquiring a scene RGB image I1 at a fixed point O1 by using a ToF camera, and acquiring a scene RGB image I2 at an offset point O2 which is offset from the fixed point O1 by a certain distance d; respectively carrying out superpixel segmentation and region division on the scene RGB images I1 and I2, and respectively calculating a feature vector of each region in the scene RGB images I1 and I2; carrying out one-to-one matching on the region with the closest position information and feature vector in the I2 and the corresponding region in the I1; performing amplitude correction processing on the matched region; and inputting