A method for establishing a baseline of a stereoscopic imaging system having a micro lens array, comprising: acquiring an object distance between a microlens array and an object of interest; and dynamically selecting two lenses (102b, 102c) from the microlens array based upon said acquiring the object distance, wherein said dynamically selecting the two lenses (102b, 102c) comprises selecting a first lens and a second lens from among a plurality of lenses (102a-102d) of the microlens array; wherein said selecting the first lens and the second lens comprises: estimating a detective range (Zmin to Zmax) of the object distance with Z= f ∗ (T/(x 1 - x r)), wherein Z is the object distance, f is a rectified focal length of the selected lenses (102b, 102c), T is a baseline between two closest lens, (x 1 - x r) is the disparity of two matched points of the first and second images (320a, 320b) wherein said acquiring the object distance comprises: acquiring a first image of the object of interest via the first lens; acquiring a second image of the object of interest via the second lens; determining a binocular disparity between the first image and the second image; calculating the object distance based upon said determining the binocular disparity; characterized in that said acquiring the object distance further comprises: acquiring a plurality of feature points on the object of interest; matching the plurality of feature points between the first image and the second image, wherein said matching the plurality of feature points comprises: scanning the second image to identify a point of the second image that matches a selected feature point of the first image; and while scanning for the point, calculating a similarity between the selected feature point of the first image and the point; and wherein said acquiring the object distance further comprises: determining respective feature distances between the microlens array and each of the feature points of the plurality of feature points; and determining the object distance using the feature distances; calculating a range of available baselines with T = Zd/f, wherein d = ( x l - x r) is the disparity; and selecting the first lens and the second lens with a minimum baseline, T, while ascertaining a disparity greater than a predetermined level. acquiring an object distance between a microlens array and an object of interest; and dynamically selecting two lenses (102b, 102c) from the microlens array based upon said acquiring the object distance, wherein said dynamically selecting the two lenses (102b, 102c) comprises selecting a first lens and a second lens from among a plurality of lenses (102a-102d) of the microlens array; wherein said selecting the first lens and the second lens comprises: estimating a detective range (Zmin to Zmax) of the object distance with Z= f ∗ (T/(x 1 - x r)), wherein Z is the object distance, f is a rectified focal length of the selected lenses (102b, 102c), T is a baseline between two closest lens, (x 1 - x r) is the disparity of two matched points of the first and second images (320a, 320b) wherein said acquiring the object distance comprises: acquiring a first image of the object of interest via the first lens; acquiring a second image of the object of interest via the second lens; determining a binocular disparity between the first image and the second image; calculating the object distance based upon said determining the binocular disparity; acquiring a first image of the object of interest via the first lens; acquiring a second image of the object of interest via the second lens; determining a binocular disparity between the first image and the second image; calculating the object distance based upon said determining the binocular disparity; characterized in that said acquiring the object distance further comprises: acquiring a plurality of feature points on the object of interest; matching the plurality of feature points between the first image and the second image, acquiring a plurality of feature points on the object of interest; matching the plurality of feature points between the first image and the second image, wherein said matching the plurality of feature points comprises: scanning the second image to identify a point of the second image that matches a selected feature point of the first image; and while scanning for the point, calculating a similarity between the selected feature point of the first image and the point; and scanning the second image to identify a point of the second image that matches a selected feature point of the first image; and while scanning for the point, calculating a similarity between the selected feature point of the first image and the point; and wherein said acquiring the object distance further comprises: determining respective feature distances between the microlens array and each of the feature points of the plurality of feature points; and determining the object distance using the feature distances; calculating a range of available baselines with T = Zd/f, wherein d = ( x l - x r) is the disparity; and selecting the first lens and the second lens with a minimum baseline, T, while ascertaining a disparity greater than a predetermined level. determining respective feature distances between the microlens array and each of the feature points of the plurality of feature points; and determining the object distance using the feature distances; calculating a range of available baselines with T = Zd/f, wherein d = ( x l - x r) is the disparity; and selecting the first lens and the second lens with a minimum baseline, T, while ascertaining a disparity greater than a predetermined level.