A method for occlusion detection on a target object is provided. The method includes: determining, based on a pixel value of each pixel in a target image, first positions of a first feature and second positions of a second feature in the target image. The first feature is an outer contour feature of a target object in the target image, the second feature is a feature of an interfering subobject in the target object. The method also includes: determining, based on the first positions, an image region including the target object; dividing, based on the second positions, the image region into at least two detection regions; and determining, according to a pixel value of a target detection region, whether the target detection region meets a preset unoccluded condition, to determine whether the target object is occluded. The target detection region is any one of the at least two detection regions.