The invention relates to a short-distance accurate relative positioning method based on a binocular camera. The GPS coordinates of the shielded boundary point can be measured; precision can be ensured. A SLAM method is introduced to solve the relative poses of the calibrated boundary points and the uncalibrated boundary points. According to the method, the measurement efficiency is improved, the CNN model is introduced, the coordinates of the boundary points in the image can be automatically judged, the requirement for online real-time processing is met, and the difficulty for manually calibrating the boundary points in the later period is reduced.