Method and apparatus for enhancing stereo vision

A computer program stored to a non-volatile computer medium, the computer program causing a multi-purpose computer to segment an image by performing the steps of:

• defining one or more segments from one of a plurality of images;
• determining one or more unstable segments of the one or more segments defined from a plurality of images changing by more than a predetermined threshold from a prior between two of the plurality of images;
• determining one or more transitioning segments transitioning from an unstable to a stable segment between two of the plurality of images;
• determining depth only for one or more of the one or more unstable segments that have changed by more than the predetermined threshold and for one or more of the one or more transitioning segments;
• and
• updating a preexisting depth map with only the combining the determined depth for the one or more unstable segments and the one or more transitioning segments with a preexisting depth map.