An electronic device includes a time of flight (ToF) camera and one or more processors. The ToF camera captures raw depth images. The processors determine a depth frame and an amplitude frame from the raw depth images. The depth frame comprises an array of pixels, each pixel having a depth value. The amplitude frame comprises an array of pixels, each pixel having an amplitude energy value. The processors determine a first energy threshold value based on the amplitude energy values of the array of pixels of the amplitude frame and determine, for the depth value of a first pixel of the depth frame, a confidence value representing a corresponding validity of a depth represented by the depth value, based on a comparison of the amplitude energy value of a corresponding first pixel of the amplitude frame to the first energy threshold value.