Camera calibration method in four-degree of freedom binocular vision system

The invention discloses a camera calibration method in a four-degree of freedom binocular vision system. The method comprises the following steps of estimating the inner parameters of a left camera and a right camera in the four-degree of freedom binocular vision system by using a planar template-based calibration method, calculating the outer parameters of the left and right cameras under the initial posture of the four-degree of freedom binocular vision system, estimating the horizontal and vertical rotation shafts of the left camera and the horizontal and vertical rotation shafts of the right camera, and calculating the outer parameters of the left and right cameras under the current posture. According to the technical scheme, degrees of the cameras respectively rotating around the rotation shafts are given, so that corresponding inner and outer parameters of the two cameras can be effectively calculated.