Industrial Automatic Control Systems and Controllers Annotation << Back Building Depth Map Using the Upgraded Canny Filter. Part 2 M.V. Bobyr, A.E. Arkhipov, A.S. Yakushev, Siddhartha Bhattacharyya The construction of a depth map using a two-level hierarchical fuzzy model are shown in the article. The input data of the first hierarchical level is the values of the sums of absolute diff erences obtained by the modifi ed SAD method. At the output of the first level, the disparity is calculated, which is one of the input variables for the second level of the hierarchy. In images with recognized object boundaries, the distances from the edge of the image to the contour are determined and a distance map is constructed, which are also input parameters for the hierarchical model. At the output of the fuzzy model, the final value of the disparity is obtained, according to which the depth map is built. Keywords: hierarchical fuzzy model; depth map; image gradient; stereo vision, disparity. DOI: 10.25791/asu.5.2021.1277 Pp. 03-15.