Disparity information has a great interest in different application fields such as view synthesis, 3D reconstruction and stereo/multiview video coding. For this reason, many research studies have been focused on the estimation of a consistent disparity map. This chapter deals with this estimation problem and it is divided into three main parts. The first part is devoted to analyzing the geometrical relationship between the 3D scene and the generated stereo images. In the second part, the formulation of the disparity estimation problem and the main difficulties that arise in solving this problem are addressed. Finally, in the third part, we present the most important techniques which aim at estimating the disparity map. © 2013 by John Wiley & Sons, Ltd.