Embodiments of the present disclosure provide an image processing method applied in an unmanned aerial vehicle (UAV), the UAV including an imaging device in two or more directions. The method includes obtaining an image to be processed in each of the two or more directions; determining a first direction in the two or more directions and obtaining a first direction reference value based on the image to be processed in each of the two or more directions, the first direction reference value being used to determine whether to update key reference frames corresponding to the two or more directions respectively; and updating the key reference frames corresponding to the two or more directions respectively if the first direction reference value meets a preset condition.