Abstract: In order to solve the defaults of the traditional binocular vision calibration method for constructing 3-D images,a binocular stereo vision system was designed based on self calibration algorithm of binocular vision,and the spatial objective points were determined.The essential matrix for two adjacent images was solved based on the matrix constructed according to calibration mathematical model.Four linear equations were obtained according to the 3-D spatial equations of projection matrix.Coordinates of image points in the world coordinate by means of external the epipolar constraint method.The results show that the outline of the objective space is clear without ghost,and the 3-D surface is more realistic,stereographic.