Aiming at the problem that the low matching accuracy of the current stereo matching algorithm cannot achieve the practical high precision level. This paper proposes a multi-feature stereo matching algorithm combining improved Census transform, color information and gradient measure, so as to realize high-precision binocular stereo matching. Firstly, in the initial cost matching phase, the improved Census transform, color and gradient measure are summed to obtain a reliable initial matching cost. In the aggregation phase, the efficient and fast minimum spanning tree aggregation is adopted to obtain the matching cost matrix. Finally, the initial disparity map is obtained according to the winner's strategy, and the disparity map is optimized by the left and right consistency detection method to obtain a high-precision disparity map. Experiments on the standard test charts provided on the Middlebury website show that the average mismatch rate of the disparity maps of the 15 test data sets obtained by the algorithm is 6.81%. The algorithm has excellent real-time responsiveness.