A stereoscopic six-degree of freedom viewing experience with a monoscopic 360-degree video is provided. A monoscopic 360-degree video of a subject scene can be processed by analyzing each frame to recover a three-dimensional geometric representation, and recover a camera motion path. Utilizing the recovered three-dimensional geometric representation and camera motion path, a dense three-dimensional geometric representation of the subject scene is generated. The processed video can be provided for stereoscopic display via a device. As motion of the device is detected, novel viewpoints can be stereoscopically synthesized for presentation in real time, so as to provide an immersive virtual reality experience based on the original monoscopic 360-degree video and the detected motion of the device.