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We propose a new stereo algorithm which uses colour segmentation to allow the handling of large untextured regions and precise localization of depth boundaries. Each segment is modelled as a plane. Robustness of the depth representation is achieved by the use of a layered model. Layers are extracted by mean-shift-based clustering of depth planes. For layer assignment a global cost function is defined. The quality of the disparity map is measured by warping the reference image to the second view and compares it with the real image. Z-buffering enforces visibility and allows the explicit detection of occlusions. An efficient greedy algorithm searches for a local minimum of the cost function. Layer extraction and assignment are alternately applied. Results obtained for benchmark and self-recorded images indicate that the proposed algorithm can compete with the state-of-the-art.