This technical note is about an alternative 3D reconstruction method. 

CS-3D-Api now has a GPU implementation of an alternative 3D reconstruction method to the existing block-matching (BM) approach. The approach is based on the semi-global matching (SGM) algorithm, which is very accurate at object borders, fine structures and in weakly textured terrain. It combines concepts of global and local stereo techmethods for accurate, pixel-wise matching at low runtime.

The technical note can be downloaded here in english.