Stereo vision is useful to obtain three dimensional depth information from two images taken from different view points. In this paper, we reduce searching area for correspondence by using the intra-scanline constraint, and utilize the inter-scanline constraint and the property of disparity continuity among the neighboring pixels for relaxation. Nodes with 3-D stucture are located on the axes of two views, and have matching possibility of correspondent pixels of two images. A matching is accepted if a node at the intersection of the disparity axes has the greatest matching possibility. Otherwise, the matching possibility of the node is updated by relaxation with the cooperation of neighboring nodes. Further relaxation with competition of two views is applied to a matching possibility of randomly selected node. The consensus of two views increases the confidence of matching, and removes a blurring phenomenon on the discontinuity of object. This approach has been tested with various types of image such as random dot stereogram and aerial image, and the experimental results show good matching performance.