Systems, computer-implemented methods, and computer program products to facilitate sparse depth completion with semantic mesh deformation optimization in an augmented reality environment are provided. According to an embodiment, a system can comprise a processor that executes computer executable components stored in memory. The computer executable components comprise a depth completion component that generates a first depth map from an image and sparse depth samples. The computer executable components further comprise a semantic mesh deformation component that performs a semantic mesh deformation process, using the sparse depth samples, to generate a second depth map comprising a defined image accuracy.