Method for generating three dimensional images

A system for reconstructing a three dimensional image, the system comprising:

• at least two image capturing devices for capturing essentially simultaneously at least two stereoscopic images;
• at least one processor configured to:
• retrieve disparity data from said at least two stereoscopic images;
• calculating disparity edges therefrom based on intensity gradients that exist between pixels comprised in said stereoscopic images;
• apply retrieved the calculated disparity edges to determine contours of an object present in the at least two stereoscopic images captured;
• select at least one pixel belonging to the object;
• establish a search area at the vicinity of the at least one selected pixel to enable identifying disparity candidates associated with objects located at the vicinity of said object whose contours were determined, wherein a size of the search area is adapted to a disparity level of the selected at least one pixel;
• determine values for the identified disparity candidates, wherein the determined values correspond to one or more chosen hypothesis associated with said search area;
• test the one or more chosen hypothesis and select a hypothesis which best describes the at least one selected pixel and its neighboring pixels;
• execute a stereo matching algorithm using data retrieved from the at least two captured images while using the values of one or more identified disparity candidates that correspond to the chosen hypothesis;
• and
• reconstruct the three dimensional image based on the results of the stereo matching algorithm;
• a memory means configured for storing information retrieved from the at least two image capturing devices along with disparity information that relates to said search area;
• and
• a delay buffer configured to enable synchronization between data received from the at least two image capturing devices.