In various embodiments, systems and methods for generating a digital representation of a 3D space and objects therein include the steps of providing one or more 3D sensors for generating an output array of pixelwise values, the values including an optical intensity value and a value indicative of an estimated distances to an object within a field of view of the sensor; and processing successive output arrays originating from the 3D sensor(s) into a pixelwise array of depth values, each of the depth values having an associated error metric based at least in part on the associated intensity value.