Generating a 3D scene reconstruction using depth fusion can include creating a high-resolution sparse depth map by mapping sensor depths from a low-resolution depth map to points corresponding to pixels of a high-resolution color image of a scene. The high-resolution sparse depth map can have the same resolution as the high-resolution color image. A fused sparse depth map can be produced by combining the high-resolution sparse depth map with sparse depths reconstructed from the high-resolution color image. The high-resolution dense depth map can be generated based on fused sparse depths of the fused sparse depth map.