The invention provides a vision/inertial navigation based generation method for an obstacle avoidance navigation point of an unmanned aerial vehicle. First, an image is corrected based on navigation information; then whether there is an obstacle in front of the unmanned aerial vehicle is determined; if there is an obstacle ahead, the next obstacle-avoiding flight point is generated and selected based on the navigation information and visual information; and in a whole process, information of each scene in the image does not need to be understood, and only a region of interest needs to be analyzed, thus reducing the difficulty of obstacle detection to some extent, and the real-time performance of the obstacle detection is improved.