Aiming at the problems that the traditional sum of absolute difference (SAD) local stereo matching is easy to cause amplitude distortion and the selection of matching window size is difficult, we propose an improved SAD local stereo matching algorithm. Firstly, based on the traditional SAD algorithm, we use the magnitude relationship of the Euler distance between pixels to replace the pixel difference as the similarity measure function, which makes good use of the continuity constraint between the gray values of adjacent pixels. Under the extreme constraint condition, the dynamic matching window of the guiding filter is established to maintain the edge characteristics well. Finally, the left and right consistency detection strategy is used to detect abnormal matching points, and then the noise is further smoothed to obtain the final disparity map. Experimental results show that the proposed algorithm is efficient and has high matching precision. It has better robustness to illumination distortion conditions and deep discontinuous regions with more edge information.