Abstract: This paper proposes an imaging system for computing sparse depth maps from multispectral images. A special stereo head consisting of an infrared and a color camera defines the proposed multimodal acquisition system. The cameras are rigidly attached so that their image planes are parallel. Details about the calibration and image rectification procedure are provided. Sparse disparity maps are obtained by the combined use of mutual information enriched with gradient information. The proposed approach is evaluated using a Receiver Operating Characteristics curve. Furthermore, a multispectral dataset, color and infrared images, together with their corresponding ground truth disparity maps, is generated and used as a test bed. Experimental results in real outdoor scenarios are provided showing its viability and that the proposed approach is not restricted to a specific domain.