An exposure control method based on depth, for controlling an imaging device to collect scene data, the scene data comprising a cached master image, the method comprising: processing the scene data to obtain a foreground part of the cached master image, wherein said step of processing the scene data comprises the step of processing the scene data to obtain depth information of the cached master image; and obtaining the foreground part of the cached master image based on the depth information; determining a reference exposure based on brightness information of the foreground part; determining an exposure for a dark image and an exposure for a bright image based on the reference exposure, the exposure for the dark image being less than the reference exposure, and the exposure for the bright image being greater than the reference exposure; and controlling the imaging device to expose based on the reference exposure, the exposure for the dark image and the exposure for the bright image; characterized in that determining the exposure for the dark image and the exposure for the bright image based on the reference exposure further comprises the steps of: obtaining a region having a brightness value greater than a first brightness threshold in the cached master image as a high-bright region; obtaining a region having a brightness value less than a second brightness threshold in the cached master image as a low-bright region, the first brightness threshold being greater than the second brightness threshold; and determining the exposure for the dark image and the exposure of the bright image based on a ratio of the high-bright region to the cached master image and a ratio of the low-bright region to the cached master image and the reference exposure, comprising: in response to determining that the ratio of the high-bright region to the cached master image is larger than the ratio of the low-bright region to the cached master image, reducing the exposure for the dark image and/or the exposure for the bright image; and in response to determining that the ratio of the high-bright region to the cached master image is less than the ratio of the low-bright region to the cached master image, increasing the exposure for the dark image and/or the exposure for the bright image. processing the scene data to obtain a foreground part of the cached master image, wherein said step of processing the scene data comprises the step of processing the scene data to obtain depth information of the cached master image; and obtaining the foreground part of the cached master image based on the depth information; determining a reference exposure based on brightness information of the foreground part; determining an exposure for a dark image and an exposure for a bright image based on the reference exposure, the exposure for the dark image being less than the reference exposure, and the exposure for the bright image being greater than the reference exposure; and controlling the imaging device to expose based on the reference exposure, the exposure for the dark image and the exposure for the bright image; characterized in that determining the exposure for the dark image and the exposure for the bright image based on the reference exposure further comprises the steps of: obtaining a region having a brightness value greater than a first brightness threshold in the cached master image as a high-bright region; obtaining a region having a brightness value less than a second brightness threshold in the cached master image as a low-bright region, the first brightness threshold being greater than the second brightness threshold; and determining the exposure for the dark image and the exposure of the bright image based on a ratio of the high-bright region to the cached master image and a ratio of the low-bright region to the cached master image and the reference exposure, comprising: in response to determining that the ratio of the high-bright region to the cached master image is larger than the ratio of the low-bright region to the cached master image, reducing the exposure for the dark image and/or the exposure for the bright image; and in response to determining that the ratio of the high-bright region to the cached master image is less than the ratio of the low-bright region to the cached master image, increasing the exposure for the dark image and/or the exposure for the bright image. obtaining a region having a brightness value greater than a first brightness threshold in the cached master image as a high-bright region; obtaining a region having a brightness value less than a second brightness threshold in the cached master image as a low-bright region, the first brightness threshold being greater than the second brightness threshold; and determining the exposure for the dark image and the exposure of the bright image based on a ratio of the high-bright region to the cached master image and a ratio of the low-bright region to the cached master image and the reference exposure, comprising: in response to determining that the ratio of the high-bright region to the cached master image is larger than the ratio of the low-bright region to the cached master image, reducing the exposure for the dark image and/or the exposure for the bright image; and in response to determining that the ratio of the high-bright region to the cached master image is less than the ratio of the low-bright region to the cached master image, increasing the exposure for the dark image and/or the exposure for the bright image.