SDPS-reconstruction of the "Pentagon" scene:

• Initial stereo images 512 × 512
• Area of reconstruction 492 × 492
• Range of x-parallaxes (disparities): [-8, 8]
• Weight of occluded points: 40
• Relative adaptation of grey level differences: [0.8, 1.2]
• DPM smoothing by 7 × 7 median filtering

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