Device and method for obtaining depth information from a scene

A mobile device for obtaining depth information from a scene comprising a conventional camera, at least one positioning device and a processor configured to:

• a) acquire, using the conventional camera, a plurality of images of a scene during a time of shot of the camera, wherein the camera is moved during the time of shot so that the plurality of images offer at least two different views of the scene;
• b) for each of the acquired images, simultaneously acquire a position of the image referred to a six-axis reference system (x, y, z, pitch, roll, yaw), wherein the position of each image acquired during the time of shot is measured from positioning data acquired by the at least one positioning device;
• c) rectify the acquired images so that their positions in the six-axis reference system are coplanar with the same z, pitch, roll and yaw to generate a set of rectified images;
• d) select at least two images from the rectified images, wherein the images are selected so that the relative distances (d) in the x and y direction between adjacent images are equal or smaller than one pixel;
• and
• e) generate a depth map from the selected rectified images.