Abstract: Highlights•Proposing joint hypothesis filtering with confidence estimator and disparity discontinuities to eliminates outliers.•Presenting iterative correlation refinement that iteratively employs RANSAC and WMF to refine pixel.•Introducing textureless-aware segmentation mergeing edge and line detection to planarize textureless areas.•Verifying the state-of-the-art results and strong generalization capability through extensive experiments.
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