A system of acquisition and processing of binocular image is introduced in this paper. Based on complex programmable logic device CPLD and high speed digital signal processor DSP, this system includes of CMOS image sensor, high speed read-write memory SDRAM and FLASH memory. The system completes the real-time acquisition, storing and matching of binocular image. This paper describes the entire structure of the system and a part of details of hardware design. It briefly recites some methods of matching algorithms and proposed a enhanced Census matching algorithm.