A imaging system and method is disclosed. In one aspect, the system includes a first edge-detecting module configured to detect edge coordinates in the first image, a first disparity-estimating module configured to obtain a first estimated disparity map of the first image relative to the second image, and a first edge-refining module configured to refine edge coordinates in the first estimated disparity map using the edge coordinates in the first image to obtain a first refined disparity map. The imaging system and method improve the quality of a disparity map and control the complexity of stereo-matching.