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OpenCV can definitely be used to solve this problem, but first you need to be able to formulate an algorithm to estimate the depth from a single camera. Humans have two eyes for a reason :-)

Unfortunately I cannot help you in that department, but I will refer you to this Wikipedia page. You may also look for android augmented reality sdk.

Hopefully this will point you in the right direction to find solutions that are sufficient for your application.

To clarify:

• OpenCV is an image processing (computer vision) library, that is used through the Android NDK.
• Android NDK stands for Android Native Development Kit, which allows you to mix machine code and Dalvik byte code.