Techniques are provided for range image generation. An input image and a reference image are used to compute raw and optimized disparity-space correlation disparity results for each pixel in the reference image. A bilateral filter is applied to both the raw and optimized disparity space correlation disparity results within a neighborhood of a given pixel. For each pixel in the neighborhood, a mean of sub-pixel disparity estimates includes the raw disparity-space correlation disparity result, and another mean of sub-pixel disparity estimates is computed using optimized disparity-space correlation disparity results. The output of the bilateral filter is a weighted sum of the means, with the weights being proportional to the ratio of valid, non-optimized sub-pixel correlation disparity results to optimized sub-pixel correlation disparity results, thereby favoring non-optimized estimates. A sub-pixel range image is generated based at least in part on the sub-pixel disparity estimate for each pixel in the reference image.