The proposed framework, HBP-ISP, outperforms the best GC algorithm on the Middlebury stereo matching benchmark.
HBP-ISP
Hierarchical Belief Propagation on Image Segmentation Pyramid.The Markov random field (MRF) for stereo matching can be solved using belief propagation (BP). 
The Markov random field (MRF)
However, the solution space grows significantly with the introduction of high-resolution stereo images and 3D plane labels, making the traditional BP algorithms impractical in inference time and convergence.We present an accurate and efficient hierarchical BP framework using the representation of the image segmentation pyramid (ISP). 
the image segmentation pyramid (ISP)
We design a hierarchy of MRF networks using the graph of superpixels at each ISP level. 
the graph of superpixels