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. <EOS>