1. A computer-implemented method, comprising: receiving a plurality of images of a scene; and estimating, from the received images, depths of scene points at multiple image resolution levels beginning from a finest resolution level and iteratively proceeding to coarser resolution levels, wherein, during each iteration, a respective resolution level is processed by performing steps including: determining, based on at least local color variation, edge confidence scores for scene points for which depth estimates have not been assigned at any previous iteration, determining sufficiently detailed regions of the scene at the resolution level, the sufficiently detailed regions being regions in which the edge confidence scores of scene points exceed a threshold value, and determining depth estimates for scene points in the sufficiently detailed regions.