Aiming at enhancing the accuracy and reliability of velocity calculation in vision navigation. an improved method is proposed in this paper. The method integrates Mask-R-CNN (Mask Region-based Convolutional Neural Network) and K-Means with the pyramid Lucas Kanade algorithm in order to reduce the harmful effect of moving objects on velocity calculation. Firstly. https://parisnaturalfoodes.shop/product-category/mens-50-multi/