A method for stereo calibration of a dual-camera that includes a first camera and a second camera, characterized by the method comprising: obtaining extrinsic and intrinsic parameters using initial intrinsic parameters and, optionally, initial extrinsic parameters; using the extrinsic and intrinsic parameters to estimate an infinity offset e that represents an estimation error in optical axis location for both of the first and second cameras as well as estimation errors in a rotation along a non-disparity axis along which the first and second cameras are placed, by obtaining dynamically at least first and second stereo image sets, wherein each of the at least first and second stereo image sets is obtained in a respective time frame, wherein each of the at least first and second stereo image sets includes a left image and a right image, matching corresponding points between the left and right images of each of the at least first and second stereo image sets, matching corresponding points between, respectively, the left images of the at least first and second stereo image sets and between the right images of the at least first and second stereo image sets, generating a disparity map by calculating disparity values in the respective time frames for all the matched corresponding points, labeling points with constant disparity over respective time frames as respective points at infinity and estimating infinity offset e, from a respective disparity of the respective points at infinity; using the extrinsic and intrinsic parameters and the infinity offset e to estimate a scaling factor s that represents an accumulative error in focal length estimation and translation along a disparity axis parallel to an optical axis; and using the extrinsic and intrinsic parameters, infinity offset e and scaling factor s to calculate an improved depth estimation of an object within the field of view of the dual-camera. obtaining extrinsic and intrinsic parameters using initial intrinsic parameters and, optionally, initial extrinsic parameters; using the extrinsic and intrinsic parameters to estimate an infinity offset e that represents an estimation error in optical axis location for both of the first and second cameras as well as estimation errors in a rotation along a non-disparity axis along which the first and second cameras are placed, by obtaining dynamically at least first and second stereo image sets, wherein each of the at least first and second stereo image sets is obtained in a respective time frame, wherein each of the at least first and second stereo image sets includes a left image and a right image, matching corresponding points between the left and right images of each of the at least first and second stereo image sets, matching corresponding points between, respectively, the left images of the at least first and second stereo image sets and between the right images of the at least first and second stereo image sets, generating a disparity map by calculating disparity values in the respective time frames for all the matched corresponding points, labeling points with constant disparity over respective time frames as respective points at infinity and estimating infinity offset e, from a respective disparity of the respective points at infinity; using the extrinsic and intrinsic parameters and the infinity offset e to estimate a scaling factor s that represents an accumulative error in focal length estimation and translation along a disparity axis parallel to an optical axis; and using the extrinsic and intrinsic parameters, infinity offset e and scaling factor s to calculate an improved depth estimation of an object within the field of view of the dual-camera.