SDPS-reconstruction of the "Ramat-Hen" scene (Israel):

• Initial stereo images: 2328 × 1442 (left), 1886 × 1442 (right)
• Area of reconstruction 2108 × 1102
  • Epipolar lines' range: [0, 1141]
  • Pixels' range: [100, 2228] in the left image and [100, 1786] in the right image
  • Range of x-parallaxes (disparities): [50, 200]
  • Search for the maximum relative likelihood
    • Transition probability to a binocularly visible point: P(d) = 0.998 e^-0.01d2+0.001
    • Geometric transition probabilities: P_BB=0.15; P_MM=0.70
  • Relative adaptation of grey level differences: [0.2, 1.8]
  • DPM smoothing by 1 × 7 median filtering

  Pentagon
  Left stereo image		Right stereo image
  Range image (DPM)		Ortho image (DPM)