1. A method for image matching, the method comprising the steps of: determining a first disparity surface by fitting initial disparity values for at least three pixels that are contained within a first segment of a plurality of segments within an image; determining a second disparity surface by fitting initial disparity values for at least three pixels that are contained within a second segment within the plurality of segments of the image; creating a disparity surface set comprising at least the first disparity surface and the second disparity surface; and labeling each segment of the plurality within segments to a respective best fit disparity surface within the disparity surface set by minimizing a labeling efficiency function that globally determines labeling efficiency for each segment with respect to each disparity surface within the disparity surface set.