Figures 3a and 3b gives the short range and long range accuracy curves for ERMS = 0.2. Those curves should be seen as the best accuracy that the stereo camera can achieved. Obviously, the absolute depth precision will dependent on the performance of the stereo matching algorithm. In the case of an active system, the presence of an illuminator generating a pattern will also help to achieve the accuracy given by fig. 3a and fig. 3b. Figure 4 gives some depth map sample images computed from the rectified left and right images using the stereo matching algorithm described in5 without any kind of illuminator or pattern generator.