Algorithm 2 Occlusion Detection

Input: Disparity map D.

Output: Occlusion map O.

Initialize: O = zeros(size(D)).

1: for dcur = (dmax – 1):−1:1

2:  Acur = {(x, y): D(x, y) = dcur};

3:  for dprev > dcur

4:     SE = (dprev – dcur)(s2 – s1) + 1;

5:     Aprev = {(x, y): D(x, y) = dprev};

6:     Adilate = imdilate(Aprev, SE);

7:     O = (Acur & Adilate) | O;

8:  end

9: end