Systems and techniques are described for processing image data to generate an image with a synthetic depth of field (DoF). An imaging system receives first image data of a scene captured by a first image sensor. The imaging system receives second image data of the scene captured by a second image sensor. The first image sensor is offset from the second image sensor by an offset distance. The imaging system generates, using at least the first image data and the second image data as inputs to one or more trained machine learning systems, an image having a synthetic depth of field corresponding to a simulated aperture size. The simulated aperture size is associated with the offset distance. The imaging system outputs the image.