Stereo-matching is the most important problem in computer vision. Comparing with the binocular vision, trinocular vision can provide more information and an additional constraint of epipolar line to eliminate the ambiguities of stereo-matching. A trinocular stereo-matching algorithm based on adaptive support-weight and disparity adjustment has been proposed to improve the accuracy of trinocular vision. Adaptive support-weight which is an efficient window selection method in binocular stereo is applied in the trinocular stereo. A robust target image selection method is also proposed for using the information of different target images in trinocular stereo-vision system efficiently. So occlusion can be handled well by this means. Furthermore, a trinocular disparity adjustment method is introduced. By using the constraint of color similarity and space proximity, this method can correct many errors of initial disparity. The experimental results show that the proposed algorithm can extract accurate disparity. It′s concise and efficient.