The invention discloses an autonomous navigation method and system and a map modeling method and system of an unmanned aerial vehicle. The autonomous navigation method comprises the steps of controlling the unmanned aerial vehicle to take off, and collecting videos of scenes corresponding to the unmanned aerial vehicle at all collecting time points; obtaining characteristic points in the videos of the scenes corresponding to all the collecting time points; generating a flight path of the unmanned aerial vehicle according to the characteristic points in the videos of the scenes corresponding to all the collecting time points; generating a first map model according to the flight path of the unmanned aerial vehicle and the videos of the scenes corresponding to all the collecting time points; carrying out autonomous navigation on the unmanned aerial vehicle according to the first map model. According to the autonomous navigation method, the videos of the scenes of the unmanned aerial vehicle corresponding to all the collecting time points are utilized, the autonomous navigation is carried out by analyzing and recognizing the videos, and therefore the autonomous navigation can be carried out on the unmanned aerial vehicle in an indoor scene.