A computer-implemented method for depth-map estimation between at least two images respectively captured by at least two cameras, comprising: - obtaining extrinsic and intrinsic parameters of the at least two cameras, - for each pixel of the at least two images, applying a first transform to a patch of pixels surrounding the pixel to obtain a first set of coefficients representative of a local spatial structure of the patch of pixels, wherein a second transform is applied to the first set of coefficients to compress the first set of coefficients in a second set of coefficients representative of the local spatial structure of the patch of pixels, wherein the patch of pixels surrounding the pixel comprises a first number of pixels, and the second set of coefficients comprises a second number of coefficients that is lower than the first number of pixels of the patch of pixels, - obtaining depth for at least one pixel of a first image among the at least two images, among at least two depth candidates, each depth candidate being associated with a corresponding pixel in a second image of the at least two images, said corresponding pixel in the second image being obtained according to the extrinsic and intrinsic parameters, wherein obtaining depth comprises: - determining a similarity measure between the at least one pixel of the first image and each corresponding pixel in the second image, the similarity measure taking into account color components and the second set of coefficients of the corresponding pixel and the at least one pixel of the first image, - selecting a pixel among the corresponding pixels in the second image that minimizes the similarity measure. - obtaining extrinsic and intrinsic parameters of the at least two cameras, - for each pixel of the at least two images, applying a first transform to a patch of pixels surrounding the pixel to obtain a first set of coefficients representative of a local spatial structure of the patch of pixels, wherein a second transform is applied to the first set of coefficients to compress the first set of coefficients in a second set of coefficients representative of the local spatial structure of the patch of pixels, wherein the patch of pixels surrounding the pixel comprises a first number of pixels, and the second set of coefficients comprises a second number of coefficients that is lower than the first number of pixels of the patch of pixels, - obtaining depth for at least one pixel of a first image among the at least two images, among at least two depth candidates, each depth candidate being associated with a corresponding pixel in a second image of the at least two images, said corresponding pixel in the second image being obtained according to the extrinsic and intrinsic parameters, wherein obtaining depth comprises: - determining a similarity measure between the at least one pixel of the first image and each corresponding pixel in the second image, the similarity measure taking into account color components and the second set of coefficients of the corresponding pixel and the at least one pixel of the first image, - selecting a pixel among the corresponding pixels in the second image that minimizes the similarity measure. - determining a similarity measure between the at least one pixel of the first image and each corresponding pixel in the second image, the similarity measure taking into account color components and the second set of coefficients of the corresponding pixel and the at least one pixel of the first image, - selecting a pixel among the corresponding pixels in the second image that minimizes the similarity measure.