A system for processing video information obtained by a video camera based on a representative view from the camera. The system includes a processor a memory communicably connected to the processor. The memory includes computer code for determining a relative depth for at least two different regions of the representative view. The memory further includes computer code for estimating a scale factor for the different regions of the representative view. The memory yet further includes computer code for determining a unit size for the different regions, the unit size based on the estimated scale factor and the determined relative depth of the different regions.