During binocular vision imaging of six rotor UAV,there are more noisy points and poor image accuracy.Aiming at this problem,an area stereo vision matching algorithm is proposed,which integrate a global error energy minimization into the matching process.As parallax solution is the most important part in the process of stereo matching,the error energy matrix minimization is used to solve the optimal parallax.By improving the precision of stereo parallax,thus noise interference caused by data problems is reduced in the process of the visual fusion,eventually the accuracy of the three-dimensional reconstruction of scene information is improved.Through simulation experiments and real environment reconstruction in indoor and outdoor environment respectively,the validity and reliability of the stereo matching algorithm based on binocular vision of the six rotor UAV is verified.