In a method for determining a depth map from stereo images, the disparity for a pixel is selected from a predefined quantity or set of predefined discrete disparity values that are distributed over the entire predefined disparity value range, whereby the distribution is non-uniform or has at least two different distances or intervals between different adjacent disparity values. This method makes it possible to more precisely determine (with finer resolution) especially only those disparities for which a more precise determination is required.