In order to solve the problem of low positioning accuracy of binocular vision system, a binocular vision target positioning method based on coarse-fine stereo matching was proposed. The coarse-fine matching strategy was adopted in the proposed method, firstly the random fern algorithm based on Canny-Harris feature points was used to identify the target in the left and right images at the stage of coarse matching, and the center points of target rectangular regions were extracted to achieve the center matching. Then, a binary feature descriptor based on image gradient information was established at the stage of fine matching, and the right center point obtained by center matching was used as an estimated value to set a pixel search range, in which the best matching point of left center point was found. Finally, the center matching points were substituted into the mathematical model of parallel binocular vision to achieve target positioning. The experimental results show that the proposed method has the positioning error controlled in 7 mm within 500 mm distance, and the average relative positioning error of 2.53%. Compared with other methods, the proposed method has the advantages of high positioning accuracy and short running time.