A method for navigating a vehicle through an environment includes assigning a first weight to each pixel associated with a dynamic object and assigning a second weight to each pixel associated with a static object. The method also includes generating a dynamic object depth estimate for the dynamic object and generating a static object depth estimate for the static object, an accuracy of the dynamic object depth estimate being greater than an accuracy of the static object depth estimate. The method still further includes generating a 3D estimate of the environment based on the dynamic object depth estimate and the static object depth estimate. The method also includes controlling an action of the vehicle based on the 3D estimate of the environment.