1. A method comprising the steps of: obtaining a first image and a second image of an object from two camera poses; generating a hierarchy of lower-resolution representations of the first image and the second image; obtaining a disparity field that characterizes motion between a lower-resolution representation of the first image and a corresponding one of the lower-resolution representations of the second image; upsampling the disparity field to a higher resolution of the hierarchy to provide an estimated disparity field at the higher resolution; warping a higher-resolution representation of the first image according to the upsampled disparity field to provide a warped image; correlating the warped image to a higher-resolution representation of the second image to obtain a disparity error field; and combining the upsampled disparity field and the disparity error field to obtain a higher-resolution disparity field.