The invention belongs to the field of image processing and computer vision, and relates to an infrared stereo camera dynamic external parameter calculation method based on histogram equalization. Because the imaging of the infrared camera is different from the imaging of the visible light camera, the number of point pairs which are obtained by directly extracting feature points for matching and meet requirements is small. In order to solve the problem, feature points of a left infrared camera and a right infrared camera are extracted and matched, and an original calibration result is correctedaccording to the feature points. Besides, in order to solve the problem of insufficient feature points, feature point extraction is carried out on an original image, and feature point extraction is also carried out on an infrared image after gray histogram equalization. According to the invention, the change of the position relationship of the infrared binocular camera caused by factors such as temperature, humidity and vibration is solved. The method has the advantages of high speed, accurate result, simple operation and the like.