Teddy stereo

Image size: 450 x 375, nDisp = 60
Data term: absolute differences truncated at 16 (Birchfield/Tomasi)
Smoothness term: L1 norm, truncated at 1, lambda=10
using intensity cues: Penalty 3 if gradient < 10

Spreadsheet

Program log

Result images (scaled by 4):

WTA+ICM:
BP-S:
BP-M:
Swap:
Expansion:
TRW-S:
Ground truth: