An optical flow calculation method for a computing device, comprising: acquiring an event data flow with a predetermined duration from a Dynamic Vision Sensor, DVS, the event data flow comprising a coordinate position and a timestamp of a triggered event; generating a timestamp matrix in accordance with the coordinate position and the timestamp of the triggered event; scanning elements in the timestamp matrix in a predetermined scanning direction, so as to determine at least one intermediate point in each element in accordance with a value and a gradient of the element in the predetermined scanning direction, wherein the predetermined scanning direction is determined in accordance with a movement direction of an object in a field of view, and comprises a horizontal scanning direction, a vertical scanning direction, a perspective scanning direction and a rotational scanning direction; and calculating a distance between adjacent intermediate points and a gradient direction, and generating an optical flow matrix in accordance with the calculated distance and the gradient direction, wherein, the at least one intermediate point is determined by the following methods: intermediate points include a first intermediate point and a second intermediate point, including: determining the scanned element as a first intermediate point when a product of the gradient of the scanned element and a gradient of an adjacent element is smaller than zero; determining the scanned element as a second intermediate point when the value of the scanned element is not equal to zero and a value of the adjacent element is equal to zero; and marking the first intermediate point and the second intermediate point as intermediate points. acquiring an event data flow with a predetermined duration from a Dynamic Vision Sensor, DVS, the event data flow comprising a coordinate position and a timestamp of a triggered event; generating a timestamp matrix in accordance with the coordinate position and the timestamp of the triggered event; scanning elements in the timestamp matrix in a predetermined scanning direction, so as to determine at least one intermediate point in each element in accordance with a value and a gradient of the element in the predetermined scanning direction, wherein the predetermined scanning direction is determined in accordance with a movement direction of an object in a field of view, and comprises a horizontal scanning direction, a vertical scanning direction, a perspective scanning direction and a rotational scanning direction; and calculating a distance between adjacent intermediate points and a gradient direction, and generating an optical flow matrix in accordance with the calculated distance and the gradient direction, wherein, the at least one intermediate point is determined by the following methods: intermediate points include a first intermediate point and a second intermediate point, including: determining the scanned element as a first intermediate point when a product of the gradient of the scanned element and a gradient of an adjacent element is smaller than zero; determining the scanned element as a second intermediate point when the value of the scanned element is not equal to zero and a value of the adjacent element is equal to zero; and marking the first intermediate point and the second intermediate point as intermediate points.