This paper presents an approach to reconstructing 3D objects based on the generation of dense depth map. From a two 2D images (a pair of images) of the same 3D object, taken from different points of view, a new grayscale image is estimated. It is an intermediate image between a purely 2D image and a 3D image where each pixel of this image represents a z-height according to its gray level value. Our objective therefore is to play on the precision of this map in order to prove the interest and effectiveness of this map on the quality of the reconstruction.