A system includes one or more memories and a control module. The one or more memories stores first pixel data corresponding to a first image frame and second pixel data corresponding to a second image frame. The control module performs stereo vision matching including: accessing the first pixel data and the second pixel data; determining initial disparity values, where the initial disparity values indicate differences between the first pixel data and the second pixel data; determining cost aggregation values based on the initial disparity values; determining matching merit values for the first pixel data based on the cost aggregation values; based on the matching merit values, determining first histogram aggregation values for first pixels of the first image frame; and refining the initial disparity values based on the first aggregation values. The control module also estimates a depth of a feature or an object based on the refined disparity values.
Matching merit value based stereo vision matching including disparity refinement