generating, through a segmentation neural network, a segmentation map based on an image of a scene, wherein the segmentation map comprises a plurality of segments, and wherein each segment of the plurality of segments is associated with one of a plurality of categories;

generating, through a first depth neural network, a first depth map of the scene based on a depth measurement of the scene;

generating a plurality of masks based on the segmentation map and the first depth map, each mask corresponding to one of the plurality of segments;

generating a plurality of enhanced depth masks based on the plurality of masks and three-dimensional coordinate information derived from the first depth map as inputs into a depth refinement neural network, wherein each enhanced depth mask of the plurality of enhanced depth masks corresponds to one of the plurality of segments;

combining the plurality of enhanced depth maps to form a second depth map of the scene;

taking one or more actions based on the second depth map of the scene.