The uniqueness and continuity constraints are employed. 5. when a correspondence is achieved, it is stored in a dynamic buffer, called the -D sketch. The correspondence problem is thus attempted as an optimization process in a 3-D search space. This matching stage eliminates matches that violate disparity smoothness, it also matches the remaining interesting points that do not yet have a match.
Search space is limited to one-dimension.
It has been later extended to include curve segments by Deriche.