1. A computer-implemented method of increasing integer disparity accuracy for camera images with a diagonal layout, comprising: obtaining image data of multiple images of the same scene having at least one diagonally arranged pair of the images including a first image and a second image; determining multiple corresponding potential disparity points on the second image to correspond to a first point on a first image, and wherein each potential disparity point is displaced one of a range of integer disparity values away from a position on the second image that corresponds to the location on the first image of the first point, wherein the range of integer disparity values is disposed along a diagonal epipolar line extending from the first point and the position on the second image; and determining which disparity point of the potential disparity points corresponds to the first point depending on a matching cost of the individual potential disparity points determined by using feature values associated with multiple neighbor points near the individual potential disparity points and by using feature values associated with the first point.