Obstacle avoidance method and device, medium and AR/VR equipment

The invention discloses an obstacle avoidance method and device, a medium and AR/VR equipment, the method is applied to the AR/VR equipment provided with a binocular camera, and the binocular camera collects a scene image and outputs a scene depth map; performing scene object recognition on the scene image and/or the scene depth map, and determining a target object in the current scene; calculating the moving speed of the target object; obtaining eye movement information of a user, and determining a human eye attention area according to the eye movement information; and when the target object is located outside the human eye attention area, outputting obstacle avoidance prompt information based on the position and the moving speed of the target object. The depth information of the scene is perceived by using binocular vision, the obstacle in the visual field of the user is detected, and meanwhile, the human eye visual attention perception is performed based on the eye movement tracking information, so that th