1. One or more computer-readable random access memory devices comprising computer-executable instructions for occlusion handling in stereo imaging, the computer-executable instructions comprising instructions for: segmenting a first stereo image to result in a coarse segmentation, the first stereo image being either a left or right image; labeling the coarse segmentation of the first stereo image; setting an initial estimate of a disparity and occlusions between the first stereo image and a second stereo image, the initial estimate based on the labeling of the coarse segmentation, the second stereo image being the other of the left or the right image; segmenting the first and second stereo images to result in fine segmentations, the fine segmentations being more granular than the coarse segmentation; optimizing energy within an alpha-expansion move, the alpha expansion move initially based on the fine segmentations and the initial estimate, and thereafter based on a current solution indicated by disparities and occlusions of the fine segmentations; pairing two fine segmentations, the pairing performed by: finding a first fine segmentation within the first stereo image and a second fine segmentation within the second stereo image, wherein a sum of absolute difference (SAD) error between the first and second fine segmentations is minimized; calculating a measure of smoothness energy between the second fine segmentation and at least one neighbor of the second fine segmentation on the second stereo image, wherein the measure of smoothness energy is based on a difference between labels of two neighboring segments; and evaluating the SAD error and the measure of smoothness energy to determine if the first fine segmentation within the first stereo image should be paired with the second fine segmentation within the second stereo image; and obtaining disparities and occlusions of pixels in the matched pair of segmentations within the stereo images based on the energy optimization.