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We have been investigating image-based rendering (IBR) imaging system by using array of smart image sensors. The imaging system consists of random accessible image sensors and FPGA, arbitrary view images can be obtained in real-time. Although IBR system can generate more realistic images compared to model-based rendering (MBR) system, the generated images are degraded if the depth information for synthesis has some errors. In this paper, we describe a method of depth estimation for the application of the imaging system. It is based on comparing various synthesized images to an actual image obtained by a real sensor repeatedly. By using the depth information, more realistic arbitrary view images can be generated.