Systems and methods are disclosed for computing depth maps. One method includes capturing, using a camera, a camera image of a runtime scene. The method may also include analyzing the camera image of the runtime scene to determine a plurality of target sampling points at which to capture depth of the runtime scene. The method may further include adjusting a setting associated with a low-density depth sensor based on the plurality of target sampling points. The method may further include capturing, using the low-density depth sensor, a low-density depth map of the runtime scene at the plurality of target sampling points. The method may further include generating a computed depth map of the runtime scene based on the camera image of the runtime scene and the low-density depth map of the runtime scene.