Provided in the present disclosure are a three-dimensional recognition device, a terminal, a calibration method and a storage medium. The three-dimensional recognition device comprises: an RGB assembly, which comprises an RGB camera (210) and a first lens (212), wherein a first light channel (211) is connected between the first lens (212) and the RGB camera (210); an infrared emission assembly, which comprises an infrared floodlight irradiator (310) and a second lens (312), wherein a second light channel (311) is connected between the infrared floodlight irradiator (310) and the second lens (312), and the second lens (312) is adjacent to the first lens (212); and an infrared receiving assembly, which comprises a first infrared camera (410) and a third lens (412), wherein a third light channel (411) is connected between the first infrared camera (410) and the third lens (412), and the third lens (412) is adjacent to the first lens (212).