Jian Sun 0001 Nanning Zheng Heung-Yeung Shum Stereo Matching Using Belief Propagation. 787-800 2003 25 IEEE Trans. Pattern Anal. Mach. Intell. 7 http://doi.ieeecomputersociety.org/10.1109/TPAMI.2003.1206509 db/journals/pami/pami25.html#SunZS03