System for acquiring a depth map of a scene, comprising a camera assembled to slidably displace along a displacement axis, and an electronic processing and control device configured to: a) successively acquire, by means of the camera, first (I 1), second (I 2), and third (I 3) images of the scene from respectively first, second, and third positions on the displacement axis; b) estimate the distance of an object (O1, O2) by stereoscopy from the first (I 1) and second (I 2) images; c) search for said object (O1, O2) in a search area of the third image (I 3), the search area being defined by taking into account the distance estimated at step b); and d) re-estimate the distance of the object (O1, O2) according to a variation of the position of the object (O1, O2) in the image between the first (I 1) and third (I 3) images; wherein the electronic processing and control device is further configured to: after step a), successively acquire, by means of the camera, a series of additional images (I n) of the scene from respectively different successive positions, and - for each acquisition of an image (I 1, I 2, I 3, I n) by the camera, implement an algorithm of detection of objects in the image, for each detected object, repeat steps b), c), and d), for each detected object, store, in an object tracking table, an age value corresponding to the rank of the first image where the object has been detected and information representative of the position of the object in the image where the object has been detected for the first time, and assigning to the object a depth value which is a function of the variation of the position of the object in the image between the first image where the object has been detected and the current image. a) successively acquire, by means of the camera, first (I 1), second (I 2), and third (I 3) images of the scene from respectively first, second, and third positions on the displacement axis; b) estimate the distance of an object (O1, O2) by stereoscopy from the first (I 1) and second (I 2) images; c) search for said object (O1, O2) in a search area of the third image (I 3), the search area being defined by taking into account the distance estimated at step b); and d) re-estimate the distance of the object (O1, O2) according to a variation of the position of the object (O1, O2) in the image between the first (I 1) and third (I 3) images; after step a), successively acquire, by means of the camera, a series of additional images (I n) of the scene from respectively different successive positions, and - for each acquisition of an image (I 1, I 2, I 3, I n) by the camera, implement an algorithm of detection of objects in the image, - for each acquisition of an image (I 1, I 2, I 3, I n) by the camera, implement an algorithm of detection of objects in the image, for each detected object, repeat steps b), c), and d), for each detected object, store, in an object tracking table, an age value corresponding to the rank of the first image where the object has been detected and information representative of the position of the object in the image where the object has been detected for the first time, and assigning to the object a depth value which is a function of the variation of the position of the object in the image between the first image where the object has been detected and the current image.