A method and device of multi-focal sensing of an obstacle. A method includes acquiring detection results of obstacles at multiple moments by utilizing a camera with long focus lens and a camera with short focus lens; performing a target tracking to the acquired detection results, to obtain at least two tracking sequences, wherein each tracking sequence includes detection results acquired at the multiple moments for a same obstacle; and matching two random tracking sequences of the at least two tracking sequences, and combining the two random tracking sequences into a combined tracking sequence, if the matching is successful.