Abstract: Depth camera settings are adjusted based on characteristics of items presented in a scan zone and based on depth values returned for the items in depth images. Red-Green-Blue (RGB) images and depth images are captured of items within the scan zone. Quality of the depth values are accessed. Bad depth values are replaced with good known depth values. When the depth values are not replaced, one or more depth value interpolation algorithms are selectively processed to enhance the depth values. The depth values are processed to place each item within a specific location of the scan zone and map that location to pixel values in the corresponding RGB images. The pixel values from the RGB images are passed to a classification model and an item code is returned. The item codes are provided to checkout a customer without any scanning of item barcodes of the items.