A system and method for performing robust depth calculations with time of flight (ToF) sensors using multiple exposure times is disclosed. A three-dimensional (3D) depth sensor assembly captures a first array of n point values, where each point value of the first array has a respective first-array depth component and a respective first-array quality component. The 3D depth sensor assembly then captures a second array of n point values, where each point value of the second array has a respective second-array depth component and a respective second-array quality component. A processor then renders a 3D point cloud comprising a third array of n point values, where each point value of the third array has a respective third-array depth component. The respective third-array depth component for each point value of the third array is based on either the corresponding respective first-array depth component or the corresponding respective second-array depth component.