1. A computer-readable medium encoded with a computer program comprising instructions that, when executed, operate to cause a computer to perform operations comprising: marking explicit and implicit ending parts on a stripe projected onto an object; performing a disparity propagation routine in a horizontal direction, a vertical direction, and the horizontal direction, respectively, further comprising halting the disparity propagation routine in the horizontal or vertical direction based on encountering the explicit or implicit ending parts; constructing a continuous three dimensional surface based on the performed disparity propagation; and performing a mismatch detection using the constructed three dimensional surface if a distance between matched pixels is greater than a predefined threshold.