Window size
•Smaller window
+ 
– 
•Larger window
+ 
– 
W = 3
W = 20
Better results with adaptive window
•T. Kanade and M. Okutomi, A Stereo Matching Algorithm with an Adaptive Window: Theory and Experiment,, Proc. International Conference on Robotics and Automation, 1991.
•D. Scharstein and R. Szeliski. Stereo matching with nonlinear diffusion. International Journal of Computer Vision, 28(2):155-174, July 1998
•
Effect of window size
smaller window:  more detail, more noise
bigger window:  less noise, more detail