Tsukuba stereo

Image size: 384 x 288, nDisp = 16
Data term: absolute differences  (Birchfield/Tomasi)
Smoothness term: L1 norm, truncated at 2, lambda=20
using intensity cues: Penalty 2 if gradient < 8

Spreadsheet

Program log

Result images (scaled by 16):

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