Street elevation 3D reconstruction needs taking automation into account, therefore we present a novel straight line stereo matching algorithm based on straight line auto-grouping, epipolar line constraint guiding, vanishing point direction guiding and image pyramid model. The algorithm based on independent observation + local integral constraint +large area search, and uses epipolar line to reduce searched area but does not absolutely depend on epipolar line, which utilizes vanishing points' directions to guide line matching but does not absolutely depend on vanishing points' directions. Furth...