1. A computer implemented method for detecting range of one or more objects in a scene comprising: detecting one or more objects from a set of images of the scene captured from one or more cameras; selecting images from the set of images containing the detected one or more objects; computing dense stereo for foreground objects and for background objects of a current image by: comparing the current image with a first image from the selected images having a long baseline for distant background objects to generate a first composite image having range estimates obtained for the background objects; comparing the current image with a second image from the selected images having a short baseline for foreground objects to generate a second composite image having range estimates obtained for the foreground objects; and associating the first composite image with the second composite image to form a composite range image with range estimates for the foreground and background objects, wherein baseline is measurement of a separation distance between the one or more cameras.