US Patent 11158077 Disparity estimation

A disparity estimation method, an electronic device, and a computer-readable storage medium are provided. The disparity estimation method includes: performing feature extraction on each image in an image pair; and performing cascaded multi-stage disparity processing according to the extracted image features to obtain multiple disparity maps with increasing sizes. The input of a first stage disparity processing in the multi-stage disparity processing includes multiple image features each having a size corresponding to the first stage disparity processing, and the input of disparity processing of each stage other than the first stage disparity processing in the multi-stage disparity processing includes: one or more image features each having a size corresponding to disparity processing of the stage and a disparity map generated by disparity processing of an immediate previous stage.