Aiming at the problem that stereo matching algorithm based on Census transform has poor matching accuracy and is susceptible to noise interference, a method combining adaptive window with improved Census transform is proposed.The size of the transform window is selected adaptively, the noise tolerance parameter is introduced into the Census transform to calculate the cost, and the improved Census cost and RGB color difference cost are weighted and fused.Then, the four-path cost aggregation strategy is adopted to complete the initial cost aggregation.Finally, the WTA algorithm is used to calculate the initial disparity, and the final disparity is obtained through post-processing optimization.The experimental results show that the proposed algorithm has low mismatching rate and better anti-noise performance.