1. A method for performing segmentation in a stereo image capture device, comprising the steps of: determining one or more segments present in a first image acquired at a first time; determining one or more segments present in a second image acquired at the first time; determining a disparity of one of the one or more segments in the first image based upon a defined overlap metric; assigning the determined disparity to every pixel comprising the one of the one or more segments in the first image; assigning the determined disparity to every pixel in a segment in the second image corresponding to the one or more segments in the first image; wherein one or more of the pixels in the segment in the second image is semi-occluded.