Three-dimensional image matching method and equipment thereof

The invention provides a three-dimensional image matching method and equipment thereof. The equipment comprises a cost computing unit, a cost gathering unit and a parallax determination unit, wherein the cost computing unit is used for computing matching cost between the pixel of a reference image and the pixel of a target image, the cost computing unit is used for respectively computing a nonparametric statistics cost function and a color average absolution difference function between the pixel of the reference image and the pixel of the target image, and carrying out linear combination of the nonparametric statistics cost function and the color average absolution difference function, and taking the combination result as the matching cost between the pixel of the reference image and the pixel of the target image; the cost gathering unit is used for gathering the matching cost between the pixel of the reference image and the pixel of the target image, computed by the cost computing unit; the parallax determining unit is used for determining the parallax from the pixel of the reference image to the target image on the basis of the result of the gathering of the cost gathering unit to the cost matching unit so as to realize three-dimensional image matching.