Techniques are disclosed for improving upon the usage of Light Detection and Ranging (LIDAR) supervision to perform image depth estimation. The techniques use a generator and adversary network to generate respective models that “compete” against one another to enable the generator model to output a desired output image that compensates for a LIDAR image having a structured or lined data pattern. The techniques described herein may be suitable for use by vehicles and/or other agents operating in a particular environment as part of machine vision algorithms that are implemented to perform autonomous and/or semi-autonomous functions.