A camera calibration method includes: based on external parameters of the first camera, determining a first mapping point set on a reference mapping plane for a first feature point set on an original image captured by the first camera; based on M predetermined adjustment modes, adjusting external parameter values of the second camera to obtain M intermediate extremal parameter values; based on each adjustment mode and its corresponding external parameter values, determining a second mapping point set on the reference mapping plane for a second feature point set that matches with the first feature point set and is on an original image captured by the second camera; computing a distance corresponding to the adjustment mode between the second mapping point set and the first mapping point set; and adjusting the external parameter values of the second camera based on the distance and a step length corresponding to each adjustment mode.