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This paper is concerned with the problem of terrain parameters estimation for the lower limb exoskeleton. It is necessary for the lower limb exoskeleton to recognize terrain parameters in order to adjust the control law correspondingly when walking in different environments. We use a binocular camera to obtain binocular images and 3D point cloud by stereo matching and reconstruction. Since the exoskeleton usually moves in the sagittal plane, and slopes and stairs have the same shape in planes parallel to the sagittal plane, parameters can be estimated by the 2D projection onto the sagittal plane. The experiment is carried out to verify the effectiveness of the proposed method.