System and method for providing mobile range sensing

A non-transitory computer readable medium comprising computer readable storage medium having a computer program stored thereon for:

• detecting one or more objects from a set of images of the scene captured from one or more cameras;
• selecting images from the set of images containing the detected one or more objects;
• computing dense stereo for foreground objects and for background objects of a current image by:
• comparing the current image with a first image from the selected images having a long baseline for distant background objects to generate a first composite image having range estimates obtained for the background objects;
• comparing the current image with a second image from the selected images having a short baseline for foreground objects to generate a second composite image having range estimates obtained for the foreground objects;
• and
• associating the first composite image with the second composite image to form a composite range image with range estimates for the foreground and background objects,
• wherein baseline is measurement of a separation distance between the one or more cameras.