1. A computer-implemented method carried out by a computer including at least one processor coupled to memory storing computer-executable instructions that cause the computer to carry out the method, the method comprising: computing a minimum cost path in a stereo disparity model between a scan line of a first image and a corresponding scan line of a second image of a stereo image pair, the stereo disparity model distinguishing between non-fronto-parallel matched pixels in each scan line and occluded pixels in each scan line, the computing comprising applying a geometric three plane model to distinguish non-fronto-parallel matched moves from occluded moves between adjacent pixels in the stereo disparity model.