In the method of motion estimation a tree (120) of segments (102-114) of an image (100) is generated by performing a hierarchical segmentation. The tree (120) of segments is analyzed to control the generation of a set (118) of candidate motion vectors of a segment (104). For the motion vectors of the set (118) match penalties are calculated. Finally, a particular motion vector (116) is selected from the set (118) of candidate motion vectors on the basis of match penalties. In the method of depth estimation depth data is calculated on the basis of a motion vector and the rules of parallax.