Abstract: A method to realize automatic calibration of binocular vision system with high precision is proposed. At the first step, coded retro-reflective targets is used to realize automatic correspondence of the calibration control points in the world space coordinates and image space coordinates. Then the orientations and its systematic distortion parameters are compated according to the Weng’s camera model. At last, based on the principle that the projection of every line in space onto the camera is still a line if a camera follows the pinhole model, a new method is proposed for calibrating the residual error of random camera with high precision. Experiments results indicate that this kind of calibration method have reached successful effect.