Method and apparatus for depth-map estimation

An apparatus for depth-map estimation between at least two images respectively captured by at least two cameras, comprising a processor configured to:

• obtain local spatial structure descriptors for each pixel of the at least two images, comprising means for transforming a patch of pixels surrounding each pixel,
• obtain depth for at least one pixel of a first image among the at least two images, among at least two depth candidates, each depth candidate being associated with a corresponding pixel in a second image of the at least two images, said corresponding pixel in the second image being obtained according to extrinsic and intrinsic parameters of the at least two cameras, wherein said depth is obtained by selecting a pixel among the corresponding pixels in the second image that minimizes a similarity measure between the at least one pixel of the first image and each corresponding pixel in the second image, the similarity measure taking into account color components and local spatial structure descriptors of the corresponding pixel and the at least one pixel of the first image.