Aiming at the problem of low efficiency and mismatching caused by occlusion in global stereo matching

this paper proposes a novel method of stereo matching with high efficiency

which is based on hierarchical belief-propagation. First

this method obtains initial matching cost from local stereo matching

and occlusion and mismatched pixels are checked out by initial disparity. Then

the result of plane estimation is used to correct the initial cost

thus pixels in occlusion region can be refined. At last

in order to reduce the mismatching in low texture region and enhance the smoothness

an improved hierarchical belief-propagation is used to estimate the minimal global energy. Experimental results demonstrate the outstanding performance of the proposed method in accuracy and matching speed.