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Figure 5: Disparity results for the stereo pairs (1st row: Tsukuba, 2nd row: Venus, 3rd row: Teddy, and 4th row: Cones) from the Middlebury testbed database. The columns show, from left to the right, the left image, ground truth, result computed by our stereo algorithm, and disparity error map larger than 1 pixel. The nonoccluded regions errors with ranking are, respectively, Tsukuba 1 . 3 3 % (37), Venus 0 . 3 2 % (39), Teddy 5 . 3 2 % (17), and Cones 2 . 7 3 %    ( 1 4 ) .