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A new stereo matching approach based on first order invariant moment is proposed. First order invariant moment is utilized in our algorithm to transform the left and right images from the input space to the feature space, and the improved a simple tree structure dynamic programming ba-sed on adaptive parameters is introduced to evaluate the disparity map to reduce the mismatching points on discontinuous and low texture regions. To testify the applicability of the proposed algorithm, it is applied to gray images captured in the real situation, and the results of experiments show that the proposed algorithm can effectively improves the quality of disparity map on interference areas. Index Terms - binocular stereo matching, invariant moment, dynamic programming, a simple tree

A Simple Tree Structure for Dynamic Programming Based on Real Scene