1. A method of extracting depth information from at least two images in a computer, the method comprising: acquiring a first image and a second image from a scene; estimating the disparity of at least one point in the first image with at least one corresponding point in the second image to generate a disparity map; segmenting at least one of the first or second images into at least one region; filtering the disparity map in the horizontal direction and the vertical direction based on the segmented regions, the filtering in the vertical direction configured to have a greater smoothing effect than filtering in the horizontal direction; and converting the filtered disparity map into a depth map by inverting the estimated disparity for each of the at least one point of the disparity map.