1. A method for segmenting an image comprising: a) receiving at least two stereo-based images, each image containing a plurality of pixels; b) defining an energy function based at least in part on a stereo disparity, a stereo matching, and a color of at least a portion of the plurality of pixels; c) optimizing the energy function; d) based on the optimization, determining a segmentation state variable value for each of the at least a portion of the plurality of pixels, each segmentation state variable value indicating one member of a segmentation group, the segmentation group comprising a foreground pixel indicator and a background pixel indicator.