利用不变矩公式将双目灰度图像转换成双目不变矩图像，然后提出了具有自适应参数的简单树动态规划算法的双目立体匹配方法进行匹配得到最终视差图-The formula using invariant moments grayscale images into binocular binocular image invariant moments, then made ​ ​ a simple tree with adaptive parameters of the dynamic programming algorithm for matching binocular stereo matching method to obtain the final disparity map