1. A computer system for object matching in stereo comprising: stereo structure for capturing and delivering a plurality of stereo image frames, each of said stereo image frames including a plurality of contours, each of said contours including edgels, said plurality of stereo image frames having associated therewith at least one three-dimensional parameter; a vision system including a linker which links said edgels into said contours, said vision system connected to said stereo structure for receiving said plurality of stereo image frames from said stereo structure, and including a processing unit for determining a saliency for each of said contours and ranking said plurality of contours in order of saliency and extracting the most salient contours from said stereo image frames; and a matcher connected to said vision system such that said vision system provides said most salient contours to said matcher whereby said matcher matches said most salient contours to estimate at least one three-dimensional parameter of said plurality of stereo image frames.