1. A computer-implemented method for generating a depth map, comprising: generating an initial depth map for a first image, the first image being one of a pair of stereo images received from an imaging device, the pair of stereo images including the first image and a second image; generating an estimated depth map based on the initial depth map by hypothesizing depth values for missing regions in the initial depth map; warping the second image based on the estimated depth map; generating a warped depth map based on the first image and the warped second image; and generating a new depth map for the first image relative to the second image based on the warped depth map and the estimated depth map.