The invention discloses a fast monocular vision odometer navigation and positioning method fusing a feature point method and a direct method, which comprises the following steps: S1, starting the vision odometer and obtaining a first frame image I1, converting the image I1 into a gray scale image, extracting ORB feature points, and constructing an initialization key frame; 2, judging whether thatinitialization has been carry out; If it has been initialized, it goes to step S6, otherwise, it goes to step S3; 3, defining a reference frame and a current frame, extracting ORB feature and matchingfeatures; 4, simultaneously calculating a homography matrix H and a base matrix F by a parallel thread, calculating a judgment model score RH, if RH is great than a threshold value, selecting a homography matrix H, otherwise selecting a base matrix F, and estimating a camera motion according to that selected model; 5, obtaining that pose of the camera and the initial 3D point; 6, judging whetherthat feature point have been extracted, if the feature points have not been extracted, the direct method is used for tracking, otherwise, the feature point method is used for tracking; S7, completingthe initial camera pose estimation. The invention can more precisely carry out navigation and positioning.