According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo image data, where the image data includes a plurality of pairs of a reference image and a secondary image, and each pair of the plurality of pairs relates a different temporal window. The real-time active stereo system includes a depth sensing computing system including at least one processor and a non-transitory computer-readable medium having executable instructions that when executed by the at least one processor are configured to execute a local stereo reconstruction algorithm configured to compute spacetime descriptors from the plurality of pairs of the stereo image data and generate depth maps based on the spacetime descriptors.