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In this paper, the design and the construction of a new system for stereo vision using planar mirrors and a single camera is presented. Two superimposed stereo images are received simultaneously as a complex image and using a proper algorithm, disparities and depth of objects of the scene can be obtained. Two virtual cameras are created from this pseudo stereo vision system (PSVS) with exactly the same geometric properties, parameters and angular FOV of the real camera. This vision system has no moving parts, its construction is quite simple and it is mechanically robust. Thus, it is easy for this system to be mounted to the end effector of a robotic manipulator or to a mobile robot.