Okay, Fishy says:

This is the basic, high speed system still used:
http://www.cs.ubc.ca/~lowe/525/fua.pdf

And this is the repository for all of the most modern, mathematically complex systems, often with source code:
http://vision.middlebury.edu/stereo/

I'll PM you with his email address, he says he's happy to lay it out for you in more detail.
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Tony Fabris