1. A method comprising: facilitating receipt of a first image and a second image of a scene comprising one or more objects; detecting the one or more objects in the first image, wherein detecting the one or more objects comprises detecting object point of the one or more objects in the first image; detecting the object points of the one or more objects in the second image based on the detection of the object points of the one or more objects in the first image, wherein detecting an object point in the second image that corresponds to an object point in the first image comprises searching for the object point in the second image on an epipolar line in the second image corresponding to the object point in the first image; and determining disparity values between the objects points of the one or more objects in the first image and the objects points of the one or more objects in the second image, wherein a disparity value between the object point in the first image and the object point in the second image is determined based at least on a detected position of the object point in the first image and a detected position of the object point in the second image.