The invention provides a feature extraction and matching method in visual navigation. According to the method, a feature region is extracted by adopting a two-dimensional maximum entropy threshold segmentation method; an external square region of the feature region is subjected to image normalization processing; each external square region subjected to the image normalization processing is used as a feature region to be matched; a feature vector of a feature point is obtained; each feature point in each feature region in a first image is matched with feature points in each feature region in a second image, and the number of matching points is obtained; and two feature regions with the most matching points are selected as matching regions, wherein matched feature points are used as matching feature points. According to the scheme, the number of the matching points is obtained through feature point matching; the feature regions with the most matching points are obtained by using the number of the matching points as a screening condition; the matching of the feature regions is completed; the practical matching pair is further obtained; and the matching points of navigation images with fine, dense and single textures under the condition of generating affine transformation such as shear transformation is increased.