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It is one of the most important technologies for lunar exploration to reconstruct three-dimensional terrain and generate digital terrain map by the stereo vision. The algorithm of generating digital terrain map based on binocular vision system is studied in this paper. Polar rectification and stereo match are made for image before three-dimensional reconstruction. According to the characteristics of the lunar terrain, grid-based digital terrain map generation method are adopted to reduce memory consume and amount of calculation. Finally, the feasibility of the algorithms proposed in the paper is verified by experiments.