1. An imaging system comprising: an edge-detecting module configured to detect one or more edge coordinates of at least a reference line in a first image; first and second disparity-estimating modules respectively configured to obtain a current line of a first estimated disparity map of the first image with respect to a second image and a second estimated disparity map of the second image with respect to the first image; a cross-checking module configured to cross check the current line of the first estimated disparity map using the current line of the second estimated disparity map to identify a set of occlusion pixels in the current line of the first estimated disparity map; an occlusion-refining module configured to refine the set of occlusion pixels to create a refined set of occlusion pixels; and a hole-filling module configured to fill the refined set of occlusion pixels in the current line of the first estimated disparity map to obtain a current line of a first refined disparity map.