Abstract: A depth mapping apparatus includes a stereoscopic depth mapping module, including a first and second cameras configured to capture pairs of respective first and second images of a scene, and a range-sensing module, configured to measure respective ranges from the apparatus to multiple points in the scene. A controller processes a first pair of the first and second images of the scene to compute a first depth map of the scene and associates at least some of the points at which the range-sensing module measured respective ranges with corresponding pixels in the first depth map. The controller computes a correction function for the stereoscopic depth mapping module by comparing the respective ranges measured by the range-sensing module to respective depth coordinates of the corresponding pixels in the first depth map and applies the correction function in computing subsequent depth maps based on subsequent pairs of the first and second images.