Abstract: The present invention discloses a visual positioning and navigation device, comprising: a motion module, configured to drive a robot accordingly, and acquire a current pose information of the robot in real time; a camera module, configured to capture an environmental image during the movement of the robot; an image processing module, configured to perform the feature extraction and the feature description for the environmental image; and a pose estimation module, configured to match the feature point description of the environmental image, build a feature database, calculate the pose correction of the robot, and obtain the corrected robot pose based on the robot current pose and the pose correction. The visual positioning and navigation device and method thereof can build the scene map by detecting and tracking the feature information of the ORB feature points of the indoor ceiling, so as to achieve the accurate positioning and navigation of the robot.