Table 4: Comparison of disparity map quality between stand-alone and edge-directed architectures.

Image pair Percentage of bad pixels System 1* System 2 System 3* System 4 nonocc. all disc. nonocc. all disc. nonocc. all disc. nonocc. all disc. (%) (%) (%) (%) (%) (%) (%) (%) (%) (%) (%) (%) Tsukuba 8.45 10.4 29.5 8.78 10.5 27.4 7.95 9.54 28.9 7.91 8.60 26 Venus 6.33 7.95 46.0 12.3 13.7 32.3 4.41 5.53 31.7 8.78 9.66 27.9

map quality results for System 1 and System 3 were extracted using Matlab simulation.