Abstract: This paper describes a method for reconstructing a depth map from intensity maps.First,needle maps are eonstrueted from a pair of intensity maps.In this process weconstruct an iterative algorithm using two kinds of constraints:one from the image-irradiance equations and the other from the smoothness eondition.In addition,wedepend on the occluding boundary to provide boundary conditions and a few specialpoints to supply helpful initial values.The second process construets a depth mapfrom needle maps obtained from the first process.Both processes employ an iterativerelaxation method to obtain target map.