An integrated stereo matching method in non-contact extraction for object configuration is presented Unlike most stereo matching approaches

this method integrates area based and feature based primitives

which takes the advantages of the uniqueness of each of the previous.The method provides both the precise sparse disparity map and accurate location of discontinuities

and the dense disparity map for continuous surface The key problems in non contact extraction for object configuration can be solved Good results are obtained in the applications for synthetic image and real object