Blur variation in 2D images caused by camera focus provides a suitable cue for depth estimation. Depth from defocus (DFD) technique calculates the blur amount in images considering that the depth and defocus blur are related to each other. Conventional DFD methods use only defocused images that might yield low-quality depth data and reconstructed infocused image. In this article, a new DFD methodology based on infocused and defocused images is proposed in which using an infocused image can solve the quality degradation problems. In this method, Subbarao’s DFD is combined with a novel edge blur estimation method to obtain an improved depth map. In addition, a saliency map mitigates the ill-posed problem of depth estimation in homogeneous regions. For real-time full high definition (Full-HD) image processing, a parallelized graphics processing unit (GPU) implementation is devised to improve execution speed.