Embodiments of the present disclosure provide a method, apparatus for determining a rotation angle of an engineering mechanical device, an electronic device and a computer readable medium. The method may include: acquiring a depth image sequence acquired by a binocular camera disposed at a rotating portion of the engineering mechanical device during rotation of the rotating portion of the engineering mechanical device; converting the depth image sequence into a three-dimensional point cloud sequence; and determining a matching point between three-dimensional point cloud frames in the three-dimensional point cloud sequence, determining a rotation angle of the binocular camera during the rotation of the rotating portion of the engineering mechanical device based on the matching point between the three-dimensional point cloud frames as the rotation angle of the engineering mechanical device.