基于图像分割的立体匹配算法，是目前效果最好的全局立体匹配算法！-A novel stereo matching algorithm is proposed that utilizes color egmentation on the reference image and a selfadapting matching score that maximizes the number of re-

liable correspondences. The scene structure is modeled by a set of planar surface patches which are estimated using a new technique that is more robust to outliers.