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Look at the stereo-vision methods (Google it) or the OpenCV implementation StereoBM or StereoSGBM. You also could look at the samples: cpp/stereo_match.cpp or python2/stereo_match.py or gpu/stereo_match.cpp or gpu/stereo_multi.cpp in the OpenCV trunk.
If you have more than two camera, epipolar geometry can be hard to understand... You could look at the Shape From Silhouettes (the principles) and a lot of details here. It allows you to reconstruct a 3D object from multiple views, which could be a solution for you to find the 3D coordinate.
Otherwise, almost in the same way, you could look at Space Carving which used photometric consistency for objects reconstruction.
