Abstract: We have studied arbitrary viewpoint image synthesis using multiple sensors based on image-based rendering, in which the depth estimation is required for generating precise virtual images. Major problems in this estimation process include the increase of computational efforts and the decrease in performance for occluded regions. To solve these difficulties, we improve our depth estimation process by using the multi-resolution method and by weighting similar pixels to the target pixel in the block matching. Furthermore, we incorporate the proposed method to our prototype hardware system using the CMOS image sensors we have originally developed. Experimental results show that our proposed method and prototype system are efficient and effective compared to the previous work and that arbitrary viewpoint images are synthesized favorably.