The invention protects a monocular vision three-dimensional environment reconstruction method based on Harris-SIFT-BRIEF algorithms; the method comprises the following steps: firstly, calibrating a camera, and solving camera internal and external parameters; then, obtaining video data, using a program to process the data, and thus obtaining an image sequence; combining the Harris algorithm, the SIFT algorithm, and the BRIEF algorithm to extract image characteristic points, and using an optical flow method to match the extracted characteristic points; then, aiming at the obtained plurality of matched point pair sets, combining the calibrated internal and external parameters, using a triangle measuring principle to calculate three dimensional coordinates, obtaining reconstruction scales according to the camera height from the ground or other sensors, thus reconstructing environment three dimensional information, and using a global bundle adjustment and local bundle adjustment combined method to optimize the information; finally, sending reconstruction three dimensional point cloud barrier information to a decision system, and allowing the decision system to decide the steering wheel to turn and control the accelerator. The method can effectively extract image information, thus providing more accurate matching results.