Abstract: A stereo matching algorithm based on control points is proposed for layered and bidirectional dynamic programming.Firstly,the improved volumetric iteration algorithm is utilized to acquire the high-reliability control points,which are used as the matching points with right disparity.Secondly,under the guidance of the high-reliability control points and using the layered and bidirectional dynamic programming algorithm,the coarse matching is processed in DSI(disparity-space image).And then the fine matching is processed in delta DSI to get the high-precision and dense disparity map.Experiments with real images show that the method can alleviate the effect of horizontal streaks caused by traditional DP-based stereo matching algorithm and improve the stereo matching speed and result.