This paper presents a new model of a complementary metal–oxide–semiconductor (CMOS) camera using combinations of several pin hole camera models, and its validity is verified by using synthesized stereo images based on OpenGL software. Our embedded three-dimensional (3-D) image capturing hardware system consists of five motor controllers and two CMOS camera modules based on an S3C6410 processor. An optimal alignment for capturing nine segment images that have their own convergence planes is implemented using a pi controller based on the measures of alignment and sharpness. A new synthesizing fusion with the optimized nine segmentation images is proposed for the best 3-D depth perception. Based on the experimental results of the disparity values in each of the nine segments, the multi-segment method proposed in this paper is a good method to improve the perception of 3-D depth in stereo images.