1. A method of correcting an input depth image, comprising: receiving the input depth image captured by a depth sensor, wherein the input depth image comprises pixels, the pixels having respective depth values in the input depth image; determining per-pixel correction values for the pixels utilizing depth calibration data for a non-linear error model calibrated for the depth sensor, wherein the per-pixel correction values are determined based on portions of the depth calibration data respectively corresponding to the pixels and the depth values, and wherein the depth calibration data for the non-linear error model calibrated for the depth sensor is generated directly based on depth error values for the pixels and ground truth measurements; applying the per-pixel correction values to the depth values to generate a corrected depth image; and outputting the corrected depth image.