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Existing stereo matching algorithms suffer from issues such as susceptibility to distortion, weak noise resistance, and a high rate of mismatches in regions with weak textures and discontinuous disparities. To address these challenges, this paper proposes a stereo matching algorithm based on an improved census transform and minimum spanning tree (MST) cost aggregation. In the cost calculation phase, we employ a Gaussian-weighted transformation window and incorporate gradient and edge information to perform weighted fusion of the results. In the cost aggregation process, we introduce a collaborative adaptive window. Each pixel acquires information from the support window of the guided filter (GF) and other pixels within the MST. Furthermore, we integrate the SLIC superpixel segmentation algorithm into MST construction. These two components work synergistically to assign appropriate adaptive weights to pixels, facilitating coordinated cost volume aggregation. Different optimization methods are applied to address mismatched points of various types in post-disparity processing.Performance evaluation using the Middlebury dataset and KITTI dataset demonstrates that our proposed algorithm not only enhances matching accuracy in regions with discontinuous disparities and weak textures but also exhibits significantly improved robustness to interference. Additionally, the resulting disparity map displays smoother edges. • Cost Calculation Phase: Introducing a Gaussian-weighted transformation window, along with gradient and edge information, enables weighted fusion of results. • Cost Aggregation Process: Collaborative adaptive window introduction allows each pixel to gather information from the support window of the guided filter and neighboring pixels within the Minimum Spanning Tree(MST).Furthermore,the SLIC superpixel segmentation algorithm is integrated into the construction of the MST. • Post-Disparity Processing Optimization: Applying diverse optimization methods addresses mismatches among different types of points. [ABSTRACT FROM AUTHOR]