Abstract: In order to improve the real-time performance and robustness of SIFT，this paper proposes a matching algorithm of binocular vision based on multi-scale feature extraction.This algorithm devises two improved ways.One way is presented that the size of template can automatically adjust along with the scale factor changing.The other is that a bidirectional feature points matching algorithm is proposed.By it，the traditional algorithm is optimized from feature point extracting time and matching accuracy.Finally，experiment shows that by the use of the improved algorithm，left image and right one based on binocular vision can be matched quickly and accurately.

摘要： 提出一种基于多尺度特征提取的双目视觉匹配算法，旨在提高传统算法的实时性和鲁棒性。该算法通过设计出一种基于尺度因子变化的高斯核模板尺寸自适应调整以及双目视图的双向配准的办法，以改善特征点匹配效率和精度。实验证明，多尺度特征提取算法能够有效而快速地完成双目视图的特征点匹配。