Abstract: Techniques are provided for generating depth estimates for pixels, in a series of images captured by a single camera, that correspond to the static objects. The techniques involve identifying occlusion events in the series of images. The occlusion events are events in which dynamic blobs are at least partially occluded, by static objects, from view of the camera. The depth estimates for pixels of the static objects are generated based on the occlusion events and depth estimates associated with the dynamic blobs. Techniques are also provided for generating the depth estimates associated with the dynamic blobs. The depth estimates for the dynamic blobs are generated based on how far down, within at least one image, the lowest point of the dynamic blob is located.