Various technologies described herein pertain to correction of an input depth image captured by a depth sensor. The input depth image can include pixels, and the pixels can have respective depth values in the input depth image. Moreover, per-pixel correction values for the pixels can be determined utilizing depth calibration data for a non-linear error model calibrated for the depth sensor. The per-pixel correction values can be determined based on portions of the depth calibration data respectively corresponding to the pixels and the depth values. The per-pixel correction values can be applied to the depth values to generate a corrected depth image. Further, the corrected depth image can be output.