Once the image ambiguity area is determined it is possible to determine the
disparity ranges 
and 
.
This is done by searching the disparity map in the image
ambiguity area and determining the minimum and maximum disparity values.
Here 
is the disparity map, 
is the ambiguity area for each pixel,
and 
, 
represent the disparity search range.
They are inversely proportional to the closest and farthest distance
in the scene from the current viewpoint. In order to have the disparities
represent the distances from the new point view we need to account
for the translation the robot will do.
The final disparity range is determined by accounting for the maximum
amount of translation the camera can do towards and away from these points.
In some cases the image ambiguity area will be outside of the existing disparity map. This will occur when the robot rotates or moves backward. The pixels that may not see parts of the seen already observed have to search of the full disparity range.
If the ambiguity area includes invalid points then the disparity range will be set by the values of valid points. However, if the area is completely invalid then no computation will be done and that pixel will be invalid ahead of time.