A method by an extended reality (XR) display device includes accessing image data and sparse depth points corresponding to a plurality of image frames to be displayed on one or more displays of the XR display device. The method further includes determining a plurality of sets of feature points for a current image frame of the plurality of image frames, constructing a cost function configured to propagate the sparse depth points corresponding to the current image frame based on the plurality of sets of feature points, and generating a dense depth map corresponding to the current image frame based on an evaluation of the cost function. The method thus includes rendering the current image frame on the one or more displays of the XR display device based on the dense depth map.