The embodiment of the invention provides a target object visual processing method and device and visual processing based equipment. The method comprises the steps that a target region is extracted from frame image pairs obtained through a binocular photographing device; multiple feature points of the target object are extracted from the target region; after a matching cost of each feature point ofthe target object is determined, matching costs are accumulated; depth informationcorresponding to the minimum accumulated matching cost of the feature point is determined; according to the depth information of the multiple feature points of the target object, after the distance between the target and the feature points is determined, alarm prompting or operative processing is performed. According to the target object visual processing method and device and the visual processing based equipment, workloads for extracting and processing the feature points and determining the matching cost are reduced; under the condition of ensuring the precision of the depth information of the target object, workloads of the overall visual processing procedure are reduced, the visual processing speed is greatly increased, and the requirement for real-time performance is met.