System, methods, and other embodiments described herein relate to estimating depth using a machine learning (ML) model. In one embodiment, a method includes acquiring image data according to criteria from a detector that uses a lens to resolve multiple angles of light per section of the detector. The method also includes mapping a kernel to the image data according to a view associated with the section and a size of the kernel. The method also includes processing the image data using the ML model to produce the depth according to the size of the kernel.