A method comprising the steps of obtaining at least one frame of input data from at least one sensor, the frame of input data representative of a real-world environment at a given time. The frame is analysed to determine at least a foveal region within the frame, and at least a method for generating depth information associated with the real-world environment based on the frame of input data is selected. The method is applied to the foveal region to generate depth information associated with the foveal region, and at least the depth information associated with the foveal region is outputted.