Simulation of 3D cloud point from disparity map of stereo image

In recent days 3D images are more used for analysis of distance using stereoscopic techniques. In general these images were enhanced to illusion of depth information for an image. Mathematically single image based perception unable to deliver the depth information and at the same time the stereo pair can be processed to deliver these parameters. The forth ground and background can be extracted without affecting the other side by obtaining the disparity map for the stereo image. For that image completion or enhancement depth based patch scaling is preferred. 3D cloud point applied here helps us to calculate the parameters like depth from the ground point and height from the ground point.