A disparity estimation system, comprising: a feature extraction network, configured to perform feature extraction on each image in an image pair and output extracted image features to a disparity generation network; and the disparity generation network, configured to perform cascaded multi-stage disparity processing according to the extracted image features to obtain a plurality of disparity maps with successively increasing sizes, wherein an input of a first stage disparity processing in the multi-stage disparity processing comprises a plurality of image features each having a size corresponding to the first stage disparity processing, and an input of disparity processing of each stage other than the first stage disparity processing in the multi-stage disparity processing comprises: one or more image features each having a size corresponding to disparity processing of the stage and a disparity map generated by disparity processing of an immediate previous stage, wherein the disparity processing of each stage other than the first stage disparity processing in the multi-stage disparity processing is a disparity refinement processing for generating a refined disparity map with a corresponding size, wherein the plurality of disparity maps comprise a plurality of refined disparity maps, characterised in that at least one of the plurality of refined disparity maps is generated by using solely an extracted edge feature, with a corresponding size, of at least one image in the image pair as an input image feature of disparity processing of a corresponding stage, and each of the other or others of the plurality of refined disparity maps is generated by using solely an extracted image-self-based feature, with a corresponding size, of at least one image in the image pair as an input image feature of disparity processing of a corresponding stage; and wherein a size of each of the at least one of the plurality of refined disparity maps is smaller than a size of each of the other or others of the plurality of refined disparity maps. a feature extraction network, configured to perform feature extraction on each image in an image pair and output extracted image features to a disparity generation network; and the disparity generation network, configured to perform cascaded multi-stage disparity processing according to the extracted image features to obtain a plurality of disparity maps with successively increasing sizes, wherein an input of a first stage disparity processing in the multi-stage disparity processing comprises a plurality of image features each having a size corresponding to the first stage disparity processing, and an input of disparity processing of each stage other than the first stage disparity processing in the multi-stage disparity processing comprises: one or more image features each having a size corresponding to disparity processing of the stage and a disparity map generated by disparity processing of an immediate previous stage, wherein the disparity processing of each stage other than the first stage disparity processing in the multi-stage disparity processing is a disparity refinement processing for generating a refined disparity map with a corresponding size, wherein the plurality of disparity maps comprise a plurality of refined disparity maps, characterised in that at least one of the plurality of refined disparity maps is generated by using solely an extracted edge feature, with a corresponding size, of at least one image in the image pair as an input image feature of disparity processing of a corresponding stage, and each of the other or others of the plurality of refined disparity maps is generated by using solely an extracted image-self-based feature, with a corresponding size, of at least one image in the image pair as an input image feature of disparity processing of a corresponding stage; and wherein a size of each of the at least one of the plurality of refined disparity maps is smaller than a size of each of the other or others of the plurality of refined disparity maps.