1. A method comprising: performing collected components processing, wherein performing collected components processing includes: maintaining a relabeling data structure comprising labels; labeling vertices of a graph based upon labeling rules; detecting a merge condition when a first set of one or more pixels has two intersecting arcs connecting the first set of one or more pixels to two neighbor pixels labeled with conflicting labels; accessing the relabeling data structure based upon the merge condition; and propagating a label from one of the two neighbor pixels to the first one or more pixels through associating an inherited label with the first one or more pixels in which the inherited label is inherited from one of the two neighbor pixels when a disparity threshold comparison with the one of the two neighbor pixels is met.