1. A computer-implemented method for comparing the similarity between two image patches taken from a stereo camera system, the method comprising the steps of: receiving from at least two vision sensors at least two image patches, wherein each sensor supplies an image patch, and comparing the received image patches by: extracting a plurality of corresponding subpart pairs from each image patch, by subdividing the two image patches in an analogous way into subparts, so that each subpart in one of the two image patches has a corresponding subpart in the other image patch, calculating a normalized local similarity score between all corresponding subpart pairs, calculating a total matching score by integrating the normalized local similarity scores of all corresponding subpart pairs, and using the total matching score as an indicator for an image patch similarity, determining corresponding similar image patches based on the total matching score.