1. A method for calculating a depth value for a pixel in a reference image, the method comprising: receiving the reference image captured by a reference camera and at least one auxiliary image captured by an auxiliary camera; receiving a first support value indicating whether the pixel in the reference image is at a particular depth, relative to the reference camera, based on comparing a region of the auxiliary image captured by the auxiliary camera with a region of the reference image captured by the reference camera; providing a depth estimate of the pixel from a range-estimation camera; receiving a second support value indicating whether the pixel in the reference image is at the particular depth based on comparing the depth estimate from the range-estimation camera to the particular depth; receiving a third support value indicating whether the pixel is at the particular depth based on projecting a 3D point, corresponding to the pixel in the reference image, onto the auxiliary image; and fusing, by operation of one or more computer processors, the first, second, and third support values to generate a total support value for the pixel at the particular depth.