Railway vehicle speed measurement method and device based on binocular vision

The invention relates to the technical field of railway vehicle speed measurement, and provides a railway vehicle speed measurement method and device based on binocular vision, and the method comprises the steps: obtaining a vehicle image which is shot by a binocular camera at a preset frame rate, and the vehicle image comprises a key target of a vehicle; identifying and selecting a key target area in the vehicle image; calculating the two-dimensional coordinates of the key feature points of the key target area in the vehicle image, mapping the vehicle image to the same plane based on the internal reference and the external reference of the binocular camera, and mapping the two-dimensional coordinates of the key feature points in the vehicle image to the same world coordinate system; obtaining position information of the key feature points in a three-dimensional space; the speed of the vehicle is calculated based on the position information of the key feature points before and after the preset time interval,