Figure 5: (a) and (b) Synthetic left and right stereo images with 4 disparities. (c) shows the 9 × 9 receptive fields of 4 disparity cells tuned to different disparities that are used as filters to extract disparity from (a) and (b). (d) represents the obtained disparity map. (e) represents 3D reconstruction of the disparity map showing the exact depth of each subfigure.