A method for visual odometry, the method comprising: capturing a frame image in a stereoscopic video using a capturing device, and obtaining feature points of the frame image and a corresponding disparity map; obtaining, based on the disparity map, a U-disparity map and a V-disparity map; characterized in that it further comprises: estimating, using the feature points of the frame image, and feature points of an adjacent frame image adjacent to the frame image or feature points of an interval frame image whose interval between the interval frame image and the frame image is at least one frame, a position and orientation of a second moving object provided with the capturing device; comparing the estimation result of the position and orientation with motion information of the second moving object provided with the capturing device; and when the comparison result is greater than a predetermined estimation threshold: obtaining the first moving object region based on the U-disparity map and the V-disparity map; removing feature points within the first moving object region from the feature points of the frame image, based on the obtained first moving object region; and estimating using remaining feature points in the frame image, a position and orientation of the second moving object. capturing a frame image in a stereoscopic video using a capturing device, and obtaining feature points of the frame image and a corresponding disparity map; obtaining, based on the disparity map, a U-disparity map and a V-disparity map; characterized in that it further comprises: estimating, using the feature points of the frame image, and feature points of an adjacent frame image adjacent to the frame image or feature points of an interval frame image whose interval between the interval frame image and the frame image is at least one frame, a position and orientation of a second moving object provided with the capturing device; comparing the estimation result of the position and orientation with motion information of the second moving object provided with the capturing device; and when the comparison result is greater than a predetermined estimation threshold: obtaining the first moving object region based on the U-disparity map and the V-disparity map; removing feature points within the first moving object region from the feature points of the frame image, based on the obtained first moving object region; and estimating using remaining feature points in the frame image, a position and orientation of the second moving object. estimating, using the feature points of the frame image, and feature points of an adjacent frame image adjacent to the frame image or feature points of an interval frame image whose interval between the interval frame image and the frame image is at least one frame, a position and orientation of a second moving object provided with the capturing device; comparing the estimation result of the position and orientation with motion information of the second moving object provided with the capturing device; and when the comparison result is greater than a predetermined estimation threshold: obtaining the first moving object region based on the U-disparity map and the V-disparity map; removing feature points within the first moving object region from the feature points of the frame image, based on the obtained first moving object region; and estimating using remaining feature points in the frame image, a position and orientation of the second moving object. obtaining the first moving object region based on the U-disparity map and the V-disparity map; removing feature points within the first moving object region from the feature points of the frame image, based on the obtained first moving object region; and estimating using remaining feature points in the frame image, a position and orientation of the second moving object. <EOS>