Directions normal to images of an object captured by at least two cameras from different points of view are aligned with each other to form corrected object images, and a correspondence is determined between at least one pixel position on a horizontal line in one of the corrected object images and at least one pixel position on the same horizontal line in another of the corrected object images. The correspondence is determined by determining a similarity in brightness and color components at the pixel positions and a parallax between the corrected object images A robust, accurate image matching can be done by making dynamic matching between all pixels on a scan line in the images captured by the cameras.