A system-on-chip is provided which is configured for real-time depth estimation of video data. The system-on-chip includes a monoscopic depth estimator configured to perform monoscopic depth estimation from monoscopic-type video data, and a stereoscopic depth estimator configured to perform stereoscopic depth estimation from stereoscopic-type video data. The system-on-chip is reconfigurable to perform either the monoscopic depth estimation or the stereoscopic depth estimation on the basis of configuration data defining a selected depth estimation mode. Both depth estimators include shared circuits which are instantiated in hardware and reconfigurable to account for differences in the functionality of the circuit in each depth estimator.