The invention relates to an image splicing method based on an optimal splicing plane and a local feature. The method comprises the following steps: S1: estimating the depth information of an image; S2: segmenting the image based on the depth information, dividing the original image into an area to be registered and a non-registration area, and determining the optimal splicing plane by using two segmentation lines as sides; S3: calculating rotation angles by using the optimal splicing plane as a reference and using the respective segmentation lines as axes, and transforming the image to be in a reference plane; S4: extracting FAST feature points and the feature description of the feature points in an area to be spliced; S5: calculating Hamming distance for feature point matching, and performing precise matching by using use depth information and an RANSAC algorithm to obtain matching point pairs; and S6: computing a transformation matrix by using the registered feature points to obtain a transformed registration area image, and obtaining a spliced image by using a weighted fusion method based on focus distance. The method can overcome tensile distortion caused by the global correction under a large viewing angle difference, and obtains the spliced image more conforming to human vision.