A plane detection method and apparatus and plane tracking method and apparatus. The plane detection method comprises: dividing a current frame image of environment scene collected by a dual camera, and detecting feature points corresponding to each sub-image block obtained after the division (S2100); according to three-dimensional coordinate information of the feature points in a global coordinate system, obtaining a sparse point data set of the current frame image (S2200), the sparse point data set comprising three-dimensional coordinate information of multiple feature points; and on the basis of the on the sparse point data set, performing plane detection on the current frame image, and obtaining an optimal effective plane of the current frame image (S2300), the optimal effective plane being the plane that contains the most feature points. The plane tracking method comprises: according to the optimal effective plane of the current frame image, obtaining multiple effective planes of the current frame image, where the plane frame number of the effective plane is consistent with the frame number of the corresponding image (S3200); and merging multiple effective planes of the current frame image and multiple effective planes of a previous frame image and determining a tracking plane of consecutive multiple frame images (S3300).