The present disclosure provides a method for distance measurement based on a binocular camera, a system for distance measurement based on a binocular camera, a device and a computer-readable storage medium. The method includes: taking N images of a distance measurement marker placed at each of Z positions in a depth direction of the binocular camera; calculating an average disparity of the distance measurement marker at the middle position, the left side position and the right side position at each of the Z positions; calculating a distance measurement value at each of the Z positions in the depth direction; calculating a distance measurement error value at the middle position, the left side position and the right side position at each of the Z positions, and acquiring a total error cost function; and calculating extrinsic parameters, so as to acquire a distance measurement result in the depth direction.