Abstract: A method of extracting three-dimensional (3D) information from an image of a scene is disclosed. The method comprises: comparing the image with a reference image associated with a reference depth map, so as to identify an occluded region in the scene; analyzing an extent of the occluded region; and based on the extent of the occluded region, extracting 3D information pertaining to an object that occludes the occluded region. In some embodiments the 3D information is extracted, based, at least in part, on parameters of the imaging system that acquires the image.