Dense depth estimation is a critical application in the field of robotics and machine vision where the depth perception is essential. Unlike traditional approaches which use expensive sensors such as LiDAR (Light Detection and Ranging) devices or stereo camera setup, the proposed approach for depth estimation uses a single camera mounted on a rotating platform. This proposed setup is an effective replacement to usage of multiple cameras, which provide around view information required for some operations in the domain of autonomous vehicles and robots. Dense depth estimation of local scene is performed using the proposed setup. This is a novel, however challenging task because baseline distance between camera positions inversely affect common regions between images. The proposed work involves dense two view reconstruction and depth map merging to obtain a reliable large dense depth map. This work would provide scope for large scale scene reconstruction along with motion estimation using rotating camera setup.