Surface reconstruction directly from binocular stereo images by multiscale-multistage regularization

This paper describes a method of surface reconstruction from stereo images. The problem addressed is formulated as the minimization of an energy functional that integrates a similarity term and a smoothness term. The minimization reduces to solving a system of nonlinear equations. A disparity map is obtained by solving the system of equations through scale hierarchy. The proposed method can compute a dense disparity map directly from stereo images preserving discontinuities