Although many fast stereo matching designs have been proposed in the past decades, it is still very challenging to achieve real-time speed at high definition resolution while maintaining high matching accuracy. In this paper, we propose a real-time high definition stereo matching design on FPGA. By using the Mini-Census transform and the Cross-based cost aggregation, the proposed algorithm is robust to radiometric differences and produces accurate disparity maps. The algorithm modules have been optimized for efficient hardware implementations and instantiated in an SoC environment. Implemented on a single EP3SL150 FPGA, our design achieves 60 frames per second for 1024 × 768 stereo images. Evaluated with the Middlebury stereo benchmark, the proposed design also delivers leading stereo matching accuracy among prior related work.