  It is essential to have a method to map an unknown terrain for various
applications. For places where human access is not possible, a method should be
proposed to identify the environment. Exploration, disaster relief,
transportation and many other purposes would be convenient if a map of the
environment is available. Replicating the human vision system using stereo
cameras would be an optimum solution. In this work, we have used laser ranging
based technique fused with stereo cameras to extract dimension of objects for
mapping. The distortions were calibrated using mathematical model of the
camera. By means of Semi Global Block Matching [1] disparity map was generated
and reduces the noise using novel noise reduction method of disparity map by
dilation. The Data from the Laser Range Finder (LRF) and noise reduced vision
data has been used to identify the object parameters.
