简介：Afeature-constrainedstereomatchingalgorithmforlunarrovernavigationispresentedbasedontheanalysisofthestereovisionsystemandworkingenvironmentsoflunarrover.Infeature-matchingphase,edgepointsareextractedwithwavelettransformandareusedastheprimitivesformatching.Thenthreecriterionsareutilizedinturntoselectthecorrectmatchingpointswiththepyramidalsearchingstrategy.Asaresult,thealgorithmfindscorrespondingpointssuccessfullyforlargenumbersofedgepoints.Area-matchingisaccomplishedundertheconstraintofedge-matchingresults,andthecorrelationisselectedasthecriterion.Experimentalresultswithrealimagesofnaturalterrainindicatethatthealgorithmprovidesdensedisparitymapswithfairlyhighaccuracy.