Abstract: An apparatus (200) comprises a simple detector (201) for detecting a plurality of image points (105, 107, 109, 111) associated with at least one object of the at least one image. The detector does not differentiate between different types of image points. The detector (201) is coupled to a grouping processor (203) which groups the plurality of image points (105, 107, 109, 111) into a group of object points (105, 107), a group of junction points (111) and a group of falsely detected points (109). The apparatus further comprises a processor arrangement 209 for individually processing the image points of the group of object points (105, 107) and the group of junction points (111). The object point process may generate depth information based on dynamic characteristics and the junction point process may generate depth information based on static characteristics. Improved depth information may thus be achieved and a simplified detector may be employed.