In this paper, the range finding algorithm is proposed for situation that stereo camera has small translational motion. In general, binocular stereo tend to produce stereo correspondance errors and need huge amount of computation. The former drawback is because the additional constraints to regularize the correspondance problem are not always true for every scene. The latter drawback is because they use either correlation or optimization to find correct disparity. In this paper, we present a method which overcomes these drawbacks by moving the stereo camera actively. The method utilizes a motion parallax acquired by a monocular motion stereo to restrict the search range of binocular disparity, Using only the uniqueness of disparity, makes it possible to find reliable binocular disparity. Experimental results with complicated scene are presented to demonstrate the effectiveness of this method, and emperiments are composed axial stereo and parallel stereo.
