A system includes a computing device. The computing device is configured to perform a set of functions. The set of functions includes receiving an image, wherein the image comprises a two-dimensional array of data. The set of functions includes extracting, by a two-dimensional neural network, a plurality of two-dimensional features from the two-dimensional array of data. The set of functions includes generating a linear combination of the plurality of two-dimensional features to form a single three-dimensional input feature. The set of functions includes extracting, by a three-dimensional neural network, a plurality of three-dimensional features from the single three-dimensional input feature. The set of functions includes determining a two-dimensional depth map. The two-dimensional depth map contains depth information corresponding to the plurality of three-dimensional features.