In order to improve the stability and precision of binocular calibration based on two- dimensional plane target, the influence of pose selection on calibration is emphatically analyzed from homography matrix perspective. Then three properties are proposed to regulate calibration poses, which point out respectively, to avoid all poses of translating and rotating target only in its own plane and the parallel pose between target and image plane. On the basis of three properties, a strategy to select poses of binocular calibration called five poses set calibration is presented. Experimental results demonstrate that three properties have high application value, which is beneficial to ensure accuracy of calibration, and only if no less than three images are acquired in every pose set, five poses set calibration can reach high calibration reliability and accuracy.