A mobile robot control method includes: acquiring a first image that is captured by a camera on a robot when the robot is in a desired pose; acquiring a second image that is captured by the camera on the robot when the robot is in a current pose; extracting multiple pairs of matching feature points from the first image and the second image, and projecting the extracted feature points onto a virtual unitary sphere to obtain multiple projection feature points, wherein a center of the virtual unitary sphere is coincident with an optical center of coordinates of the camera; acquiring an invariant image feature and a rotation vector feature based on the multiple projection feature points, and controlling the robot to move until the robot is in the desired pose according to the invariant image feature and the rotation vector feature.