Multi-layer superpixel-based MeshStereo for accurate stereo matching

This paper describes an approach to generate a dense disparity map between the stereo pairs using the multilayer superpixel with the different size. We assume the pixels within superpixel belong to the same 3D surface. The pixel-wise matching costs are computed with census and gradient features. Then, the input stereo images are segmented into M layers superpixel. SLIC algorithm is used to obtain superpixel. The disparity map for each superpixel image is generated by optimizing a superpixel grid MRF. There are the overlapping regions regardless of the size of the superpixel. The multiple disparity maps are merged by using the median filter.