A method of discriminating ground plane locations in stereoscopic images, the method implemented by a processor of a stereoscopic vision system, the method comprising: receiving stereoscopic images of a scene comprising a first image captured from a first camera and a second image captured from a second camera, the first camera and the second camera arranged to capture the stereoscopic images, wherein the first image and second image capture different views of the scene that are shifted by a disparity shift as a result of a displacement between mounting locations of the first and second cameras; obtaining pixel values for a first sample point (L11-L42) from a first location in the first image; determining, based on a vertical location of the first sample point (L11-L42) within the first image, a shift amount corresponding to a value at the vertical location of the first sample point (L11-L42) of the disparity shift (B1-B4) for points in the first and second images that capture features of the scene that are on a ground plane; obtaining pixel values for a second corresponding sample point (R11-R42) from a second location in the second image, wherein the second location in the second image is the first location shifted by the shift amount; comparing the pixel values for the first sample point (L11-L42) to the pixel values for the second corresponding sample point (R11-R42), wherein the pixel values for the first sample point (L11-L42) in the first image and the second corresponding sample point (R11-R42) in the second image are determined as a weighted average of pixel values in a vicinity of the first sample point (L11-L42) and the second corresponding sample point (R11-R42); and in response to comparing the pixel values for the first and second sample points: marking the first and second locations in the first and second images as corresponding to locations of the scene that are on the ground plane when the pixel values for the first and second sample points are the same within a similarity threshold; or marking the first and second locations in the first and second images as corresponding to locations of the scene that are off the ground plane when the pixel values for the first and second sample points are not the same within the similarity threshold. receiving stereoscopic images of a scene comprising a first image captured from a first camera and a second image captured from a second camera, the first camera and the second camera arranged to capture the stereoscopic images, wherein the first image and second image capture different views of the scene that are shifted by a disparity shift as a result of a displacement between mounting locations of the first and second cameras; obtaining pixel values for a first sample point (L11-L42) from a first location in the first image; determining, based on a vertical location of the first sample point (L11-L42) within the first image, a shift amount corresponding to a value at the vertical location of the first sample point (L11-L42) of the disparity shift (B1-B4) for points in the first and second images that capture features of the scene that are on a ground plane; obtaining pixel values for a second corresponding sample point (R11-R42) from a second location in the second image, wherein the second location in the second image is the first location shifted by the shift amount; comparing the pixel values for the first sample point (L11-L42) to the pixel values for the second corresponding sample point (R11-R42), wherein the pixel values for the first sample point (L11-L42) in the first image and the second corresponding sample point (R11-R42) in the second image are determined as a weighted average of pixel values in a vicinity of the first sample point (L11-L42) and the second corresponding sample point (R11-R42); and in response to comparing the pixel values for the first and second sample points: marking the first and second locations in the first and second images as corresponding to locations of the scene that are on the ground plane when the pixel values for the first and second sample points are the same within a similarity threshold; or marking the first and second locations in the first and second images as corresponding to locations of the scene that are off the ground plane when the pixel values for the first and second sample points are not the same within the similarity threshold. marking the first and second locations in the first and second images as corresponding to locations of the scene that are on the ground plane when the pixel values for the first and second sample points are the same within a similarity threshold; or marking the first and second locations in the first and second images as corresponding to locations of the scene that are off the ground plane when the pixel values for the first and second sample points are not the same within the similarity threshold.