1. A method of detecting and describing features from an intensity image, comprising the steps of: providing an intensity image captured by a capturing device; providing a method for determining a depth of at least one element in the intensity image; in a feature detection process detecting at least one feature in the intensity image, wherein the feature detection is performed by processing image intensity information of the intensity image at a scale which depends on the depth of at least one element in the intensity image; and providing a feature descriptor of the at least one detected feature.