A method for obtaining a range image with an unmanned aerial vehicle UAV, comprising: reading (S1) an image sequence of a predetermined scene collected by an airborne camera of the UAV, wherein the N th image and the (N+1) th image of the image sequence have an overlapping region, and a ratio of an area of the overlapping region to an area of the N th image or a ratio of the area of the overlapping region to an area of the (N+1) th image is greater than a preset ratio; for each pixel point in the overlapped region, calculating (S2) a moving distance of each pixel point in the overlapped region in a camera coordinate system of the UAV; and finding (S2) a derivative of the moving distance of each pixel point in the overlapped region in the camera coordinate system of the UAV with respect to time to obtain a pixel movement velocity of each pixel point in the overlapped region in the camera coordinate system of the UAV; obtaining (S3) an actual flying velocity of the UAV in a world coordinate system by a velocity measurement device; being characterized in that , the method further comprising: obtaining a depth value of the i th pixel point (Z i ) according to a ratio between the actual flying velocity (v m ) of the UAV in the world coordinate system and the pixel movement velocity (v i ) of each pixel point in the overlapped region in the camera coordinate system of the UAV, and the focal length (f) of the airborne camera, obtaining a range image of each overlapped region according to the depth value of the i th pixel point (Z i ), and obtaining a range image of the preset scene through integrating the range image of each overlapped region (S4). reading (S1) an image sequence of a predetermined scene collected by an airborne camera of the UAV, wherein the N th image and the (N+1) th image of the image sequence have an overlapping region, and a ratio of an area of the overlapping region to an area of the N th image or a ratio of the area of the overlapping region to an area of the (N+1) th image is greater than a preset ratio; for each pixel point in the overlapped region, calculating (S2) a moving distance of each pixel point in the overlapped region in a camera coordinate system of the UAV; and finding (S2) a derivative of the moving distance of each pixel point in the overlapped region in the camera coordinate system of the UAV with respect to time to obtain a pixel movement velocity of each pixel point in the overlapped region in the camera coordinate system of the UAV; obtaining (S3) an actual flying velocity of the UAV in a world coordinate system by a velocity measurement device; being characterized in that , the method further comprising: obtaining a depth value of the i th pixel point (Z i ) according to a ratio between the actual flying velocity (v m ) of the UAV in the world coordinate system and the pixel movement velocity (v i ) of each pixel point in the overlapped region in the camera coordinate system of the UAV, and the focal length (f) of the airborne camera, obtaining a range image of each overlapped region according to the depth value of the i th pixel point (Z i ), and obtaining a range image of the preset scene through integrating the range image of each overlapped region (S4). <EOS>