Introduction
The Chiara's map builder currently uses a planar world assumption to generate a 2D map from an image. This assumption fails for many cases, such as large tower-like objects, objects suspended in air or sitting on top of platforms, or different objects which only appear to be the same size from the Chiara's perspective. Using the Chiara as a jitter camera, we have implemented a depth mapping algorithm which accurately determines the relative distance to any object in the Chiara's field of view without using a planar world assumption.