Results on the Middlebury datasets.

(a) “Aloe”, (b) “Art”, (c) “Flowerpot”, (d) “Cloth3”, (e) “Baby1”, and (f) “Wood1”. From top to bottom: disparity maps of RealtimeBP, CSBP, HBP, TSGO, IVBP and the ground truth disparity maps. Edge-preserving smoothing effects are indicated by pink arrows in our algorithm.