High-precision binocular vision ranging method

The invention belongs to the technical field of image processing, and particularly relates to a high-precision binocular vision ranging method. The method comprises the following steps of: 1, acquiring a left view image and a right view image of a target by using binocular vision image acquisition equipment; 2, respectively constructing multi-scale pyramids corresponding to the enhanced right view image and the enhanced left view image to obtain corresponding multi-scale pyramid images; step 3, based on the left image feature map and the right image feature map, performing preliminary parallax estimation on the lowest resolution layer to obtain a parallax map; 4, performing structured light compensation, optical filter compensation, temperature compensation and vibration compensation on the disparity map in sequence to obtain a compensated disparity map; and step 5, based on the compensated disparity map, calculating the distance from the binocular vision image acquisition device to the target, providing a hi