1. A method comprising: receiving, by a computing device, a plurality of images captured with at least two optical sensors, wherein the plurality of images comprises a first image of an environment as perceived from a first viewpoint of a first optical sensor and a second image of the environment as perceived from a second viewpoint of a second optical sensor; determining, by the computing device, a first depth estimate for at least one surface in the environment based on corresponding features between the first image and the second image; causing, by the computing device, a texture projector to project a known texture pattern onto the environment; determining, by the computing device and based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern; determining, by the computing device, points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image; and determining, by the computing device, a second depth estimate for the at least one surface in the environment based on the determined points corresponding to the particular portion of the known texture pattern within the at least one region of the at least one image.