1. A method for performing segment-based disparity decomposition, comprising the steps of: generating a left image from one of a stereo pair of image capture devices; determining one or more segments present in the left image; generating a right image from the other of the stereo pair of image capture devices; shifting one of the left and right image by one pixel; subtracting the shifted image from the other of the first and second images to form a difference image; and determining a disparity value associated with each of the one or more segments in accordance with the difference image.