1. A method comprising: facilitating receipt of a primary depth map and a plurality of color segments, the primary depth map being associated with a first image and a second image of a scene, the first image and the second image being a stereoscopic pair of images of the scene, and the plurality of color segments being associated with the first image; generating a plurality of disparity planes for the scene based on the plurality of color segments and the primary depth map, the plurality of disparity planes associated with a plurality of plane labels; determining an aggregated cost volume between pixels of the first image and pixels of the second image for the plurality of disparity planes; assigning plane labels to pixels of at least one image of the first image and the second image based on the aggregated cost volume, wherein an individual pixel of the pixels is assigned a plane label of the plane labels; and generating a secondary depth map based on the plane labels assigned to the pixels of the at least one image.