In a triangulation sensor with two viewpoints and two types of occlusion occur. If parts of the object are hidden in both viewpoints due to object self-occlusion, then we speak of object occlusions which cannot be resolved from this viewpoint. If a surface region is visible in viewpoint but not in , we speak of a shadow occlusion. The regions have a shadow-like appearance of undefined disparity values since the occlusions at view cast a shadow on the object as seen from view . Shadow occlusions are in fact detected by the uniqueness constraint discussed in section 7.2. A solution to avoid shadow occlusions is to incorporate a symmetrical multi-viewpoint matcher as proposed in this contribution. Points that are shadowed in the (right) view are normally visible in the (left) view and vice versa. The exploitation of up-and down-links will resolve for most of the shadow occlusions. A helpful measure in this context is the visibility V that defines for a pixel in view the maximum number of possible correspondences in the sequence. is caused by a shadow occlusion, allows a depth estimate.