This paper is aimed to develop a method for a depth map generation based on objects localization in images, obtained through a stereopair. The proposed solution describes the objects by the following informative elements: contours, interest points (points of the greatest curvature of the contour), center of mass of the object. Moreover, to describe the contour of the image, it is proposed to use methods with adjustable detailing, based on the wavelet transform, which has frequency-selective properties. The novelty of this method is the possibility of obtaining an approximate depth map by simplifying the calculation of stereo image difference values, which is traditionally used to generate a depth map. Software was developed based on the proposed solutions. Modeling confirmed the effectiveness of the proposed approach. The proposed method makes it possible to significantly reduce the number of computational operations and, consequently, improve depth map generation performance and recommend the proposed method for mobile navigation systems operating in conditions of limited computing and energy resources. The method provides object detection and spatial positioning, makes it possible to obtain reliable information about the distance to objects for other subsystems that use technical vision in their operation, for example, navigation systems for visually impaired people, robotic devices, etc.