The present teaching relates to method, system, medium, and implementation of determining depth information in autonomous driving. Stereo images are first obtained from multiple stereo pairs selected from at least two stereo pairs. The at least two stereo pairs have stereo cameras installed with the same baseline and in the same vertical plane. Left images from the multiple stereo pairs are fused to generate a fused left image and right images from the multiple stereo pairs are fused to generate a fused right image. Disparity is then estimated based on the fused left and right images and depth information can be computed based on the stereo images and the disparity.