A stereo matching algorithm was proposed based on pyramid algorithm and dynamic programming. High and low resolution images was computed by pyramid algorithm, and then candidate control points were stroke on low-resolution image, and final control points were stroke on the high-resolution images. Finally, final control points were used in directing stereo matching based on dynamic programming. Since the striking of candidate control points on low-resolution image, the time is greatly reduced. Experiments show that the proposed method has a high matching precision.