Surfaces with occlusions from layered stereo

Stereo, or the determination of 3D structure from multiple 2D images of a scene, is one of the fundamental problems of computer vision. Although steady progress has been made in recent algorithms, producing accurate results in the neighborhood of depth discontinuities remains a challenge. Moreover, among the techniques that best localize depth discontinuities, it is common to work only with a discrete set of disparity values, hindering the modeling of smooth, non-fronto-parallel surfaces.