Dense Disparity Estimation in Ego-motion Reduced Search Space * *This work has been supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 688117 and by the Croatian Science Foundation under contract No. I-2406-2016. This research has also been carried out within the activities of the Centre of Research Excellence for Data Science and Cooperative Systems supported by the Ministry of Science, Education and Sports of the Republic of Croatia.