The application relates to a semantic segmentation and
stereo matching method and framework based on multi-task joint learning, which comprises the following steps: acquiring
stereo image pair information, wherein the
stereo image pair information comprises a left image and a right image; based on the left image and the right image, shared features are extracted by using a joint
encoder, and a preliminary disparity map is obtained by calculating a disparity; based on the shared features, the preliminary disparity map is updated by updating the disparity, so that a refined disparity map is obtained, wherein the refined disparity map is a
stereo matching result; the shared features are converted to a
semantic space, and
feature fusion is performed with the refined disparity map, so that fused features are obtained; and based on a densely connected skip connection decoder, the fused features are decoded, so that a semantic segmentation result is obtained. Compared with the prior art, the application has the advantages of improving real-time performance, low data requirement and the like.