Abstract: The present invention discloses an image interpolation method and device based on RGB-D images and a multi-camera system, wherein the method comprises performing camera calibration on each camera in the multi-camera system; clarifying a position of a new camera for interpolation according to position information of the each camera in the multi-camera system, and calculating a camera pose of the new camera according to camera calibration data; calculating a plurality of initial interpolated images that have a one-to-one correspondence with designated images captured by the each camera of the multi-camera system according to a projection relationship of the camera and the pose information of the each camera; performing image fusion on each initial interpolated image to obtain a fused interpolated image; and performing pixel completion on the fused interpolated image so as to obtain an interpolated image related to the new camera.