I am currently working on image segmentation for the purposes of computer vision. I have read many papers and a few books dealing with MRFs and CRFs for computer vision. All of them define an energy function based on the single pixel and neighbouring pixel cliques. However, I have failed to find any reference where the energy function is defined explicitly.
Furthermore, the image I am working on has had its pixels previously clustered as stixels and the images were acquired from a stereo camera system, so the disparity is also available. However, I believe that the adaptation from pixel and pixel neighbourhood to stixel and stixel neighbourhood is straightforward enough.
So I wanted to know what are some standard energy functions for image segmentation? And what would be the best algorithm for optimizing over said function?