FULL DEPTH MAP ACQUISITION

The invention relates to a method for acquiring a substantially complete depth map from a 3-D scene. Both depth values and derivates of depth values may be used to calculate a pixel dense depth map with the steps of acquiring partial depth map from said 3-D scene, acquiring derivates of depth information from said scene, and extending said partial depth map by adding non-relevant information to said partial depth map, creating a pixel dense full depth map being spatially consistent with both said partial depth map and said derivates of depth information.