Abstract: A method for determining the depth from digital images (R, T) relating to scenes (I), comprising the following steps: A. acquiring at least one digital image (R, T) of a scene (I); B. acquiring sparse depth values (Sij) of said scene (I) relating to one or more of said pixels (pij) of said digital image (R, T); C. generating meta-data related to each pixel (pij) of said digital image (R, T) acquired in said step A correlated with the depth to be estimated of said image (I); D. modifying said meta-data generated in said step C, relating to each pixel (pij) of said digital image; and E. optimizing said meta-data modified in said step D, so as to obtain a map representative of the depth of said digital image (R, T) for determining the depth of said digital image (R, T) itself.