The invention belongs to the technical field of stereoscopic vision, and discloses a stereoscopic matching method based on unsupervised
online learning. The method is realized through a
stereo matching module based on a multi-level cost body, a non-
occlusion region confidence
estimation module and a Mann-Kendall
trend detection module. Compared with the prior art, the method has a better
stereo matching effect. The model provided by the invention has the best result in both the initial stage and the later stage, and due to the good generalization of the model, the model can always keep a relatively accurate prediction result in a sheltered region. The model has a good prediction result in the
occlusion area due to high generalization, and the tendency of
parameter error update is relieved due to the fact that the self-adaptive adjustment strategy provided by the invention eliminates the influence of error loss of most of the
occlusion areas, so that the network can maintain the optimal performance all the time.