A robust stereo matching method based on a comprehensive mathematical model for color formation process is proposed to estimate the disparity map of stereo images with noise and photometric variations. The band-pass filter with DoP kernel is firstly used to filter out noise component of the stereo images. Then the log-chromaticity normalization process is applied to eliminate the influence of lightning geometry. All the other factors that may influence the color formation process are removed through the disparity estimation process with a specific matching cost. Performance of the developed method is evaluated by comparing with some up-to-date algorithms. Experimental results are presented to demonstrate the robustness and accuracy of the method.