Abstract: A depth estimation system can use a guided filter to enhance depth estimation using brightness image. Light is projected onto an object. The object reflects at least a portion of the projected light. The reflected light is at least partially captured by an image sensor. The depth estimation system may generate a depth image based on a phase shift between the captured light and the projected light and generate a brightness image based on brightness of the captured light. The depth estimation system may use the guided filter to identify a pixel that represents at least a portion of a boundary of the object. The guided filter can determine a depth value of the pixel based on the value of the corresponding pixel in the brightness image. The depth estimation system can assign the depth value to the pixel and generates an enhanced depth image.