Joint depth estimation and semantic labeling techniques usable for processing of a single image are described. In one or more implementations, global semantic and depth layouts are estimated of a scene of the image through machine learning by the one or more computing devices. Local semantic and depth layouts are also estimated for respective ones of a plurality of segments of the scene of the image through machine learning by the one or more computing devices. The estimated global semantic and depth layouts are merged with the local semantic and depth layouts by the one or more computing devices to semantically label and assign a depth value to individual pixels in the image.