A system and method for generating a range image using sparse depth data is disclosed. The method includes receiving, by a controller, image data of a scene. The image data includes a first set of pixels. The method also includes receiving, by the controller, a sparse depth data of the scene. The sparse depth data includes a second set of pixels, and the number of the second set of pixels is less than the number of first set of pixels. The method also includes combining the image data and the sparse depth data into a combined data. The method also includes generating a range image using the combined data.