The present application provides an image stitching method. The image stitching method includes acquiring a first depth image a present frame of image obtained by a first camera; acquiring a second depth image of the present frame of image obtained by a second camera, the second depth image and the first depth image parlay overlapping with each other; converting the first depth image in a first camera coordinate system defined by the first camera into a third depth image in a second camera coordinate system defined by the second camera; and stitching the third depth image with the second depth image to obtain a stitched image.