A new method for acquiring time-sequential range images is proposed. Stereo pairs of thermal and intensity images are synchronously acquired and are mutually registered. Stereo thermal images are segmented into isotemperature regions. Then, contour based matching is done for the isotemperature regions, To supplement matching, dynamic programming matching is performed for either intensity profile or edges in the stereo intensity images. By corresponding pixel pairs obtained from the matching processes, the 3D coordinates of the points can be calculated. Experiments with real scenes having moving human beings show promising results.