A navigation method for a vehicle includes receiving a destination inputted by a user and establishing a current position of a vehicle using a positioning device. Based on an electronic map, a route from the current position to the destination is determined and characteristic points of the determined route are extracted. A street view mapping of the determined route is acquired. Based on the street view mapping, and using a camera, a marker of each of the characteristic points is extracted using an image extraction method. When the vehicle arrives at each of the characteristic points, a prompt is output for the user by recognizing the marker of each of the characteristic points from the street view mapping.