(a)
(b)
(c)
(d)
(e)
Figure 6: (a) and (b) represent left and right stereo images with 20 disparities. (c) represents the true disparity map. (d) represents the obtained disparity map by using disparity cells tuned to 20 different disparities as filters; average error is 68%. (e) represents the improved map obtained by adding edge detection filters; average error is 22%.