In order to solve the problem that the existing local stereo matching method has low matching accuracy in the discontinuous region of parallax, a dense matching method combining superpixel segmentation and guided filtering is proposed in this paper. Firstly, a feature matching method is used to determine the disparity range, and the zero-mean normalized cross correlation is combined with gray-level and gradient information to construct the cost function. Secondly, the label map after superpixel segmentation is used to constrain the adaptive changes of the guided filtering window shape, and the cost is aggregated. Finally, the aggregation cost is used as the data item to construct the global energy function, and the disparity map is solved by graph cut algorithm, and multi-step disparity optimization is performed on the disparity map. Experimental results show that the average mismatching rate of the proposed method is 4.8% on the standard test image set provided by Middlebury website, which is significantly better than the traditional guided filtering dense matching method and semi-global matching method.
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