Systems and methods for performing depth estimation may comprise: an illuminator capable of illuminating a scene from at least a first position and a second position, an image sensor to capture (i) a first image of the scene while the illuminator illuminates the scene from the first position and (ii) a second image of the scene while the illuminator illuminates the scene from the second position, and an image processor to receive the first and second images from the image sensor and estimate a depth of at least one feature that appears in the first and second images. The depth is estimated based on the relative intensity of the first image and the second image, a distance between the first illumination position and the second illumination position, and a position of the at least one feature within at least one of the first and second images.