In accordance with at least some embodiments of the present disclosure, a processor for performing stereo matching of a first image and a second image is described. The processor may include a first pipeline stage configured to generate data costs associated with a first tile selected from the first image, wherein the data costs is generated based on pixels in the first tile and corresponding pixels in the second image. The processor may include a second pipeline stage configured to generate disparity values associated with the first tile and an outbound message from the first tile to one of neighboring tiles in the first image, wherein the disparity values and the outbound message are generated based on the data costs and inbound messages from the neighboring tiles to the first tile. The processor may further include a third pipeline stage configured to store the disparity values and the outbound message in a memory, wherein the outbound message is used by the second pipeline stage as one of the inbound messages during processing of a second tile selected from the first image.