@article{Cox1996AML,
title={A Maximum Likelihood Stereo Algorithm},
author={Ingemar J. Cox and Sunita L. Hingorani and Satish Rao and Bruce M. Maggs},
journal={Computer Vision and Image Understanding},
year={1996},
volume={63},
pages={542-567}
}

A stereo algorithm is presented that optimizes a maximum likelihood cost function. The maximum likelihood cost function assumes that corresponding features in the left and right images are Normally distributed about a common true value and consists of a weighted squared error term if two features are matched or a ( xed) cost if a feature is determined to be occluded. The stereo algorithm nds the set of correspondences that maximize the cost function subject to ordering and uniquenessâ€¦Â CONTINUE READING