An approach to active depth perception using stereo methods is proposed. Active vision is characterized by gaze control for input-dependent data acquisition, coupled with a treatment of the reliability of the acquired information. An active solution is proposed for the task of computing 3-D depth from an image sequence, where the camera can be controlled. After each phase of computation (between pictures), when information is still needed, the camera is placed in a new optimal position for the next picture. This process is repeated until a sufficient accuracy is achieved. The proposed approach improves the ability to perform tasks in a noisy environment. The accuracy and reliability of solutions are improved, and the quantity of necessary data and computations is reduced.