Fig. 6.

3 test stereo-pairs from the Middlebury repository. In each panel, the top row shows left and right images over the region where disparity was evaluated (for speed, we did not evaluate disparity at every pixel in the image, although the full-size images were used as input to the algorithm). The bottom left pseudocolor plot shows the “ground truth” disparity given in the repository, with occluded regions grayed out. The bottom right pseudocolor plot shows, on the same colorscale, the disparity fitted by our algorithm. Below, this plot are three quantitative measures of fit quality: R = RMS error in pixels, B = percentage of the image where the error exceeds 1 pixel, M = median absolute error, in pixels. All three measures are evaluated over the entire fitted region, including occlusions.