A method and an apparatus for depth-map estimation between at least two images respectively captured by at least two cameras are disclosed. Extrinsic and intrinsic parameters of the at least two cameras are obtained. Local spatial structure descriptors for each pixel of the at least two images are obtained by transforming a patch of pixels surrounding each pixel, and depth is obtained 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 determined according to the obtained extrinsic and intrinsic parameters.