The invention provides a robot navigation method based on binocular vision. The method comprises: S1, a binocular stereo vision system carries out stereo calibration and obtains image information in an unknown environment; S2, on the basis of a stereo vision matching algorithm, a 3D disparity map of an environment is reconstructed; S3, target object detection is carried out by using a 2D image anda 3D disparity map; and S4, according to location information of a target and an obstacle, a safety path through which a robot can pass is selected. Therefore, the segmentation accuracy can be guaranteed by combining the characteristics of rapid recognition of the 2D image scene and the 3D depth information.