A scene model based stereo-camera calibration method is presented in this paper. The initial calibration process firstly constructs a global scene model, and based on this, both intrinsic and extrinsic parameters of the stereocamera are estimated separately and optimized jointly. The update calibration utilizes the established scene model to restore three dimentiontwo dimention relation between model coordinate and image coordinate, with the relation, stereocamera parameters are updated through joint optimization. The experiments in realworld show that the method calibrates all the parameters while SLAMbased method only solves a part, and the accuracy of the method is better than the chessboard based method.