Examples are disclosed herein that relate to depth imaging techniques using ultrasound One example provides an ultrasonic depth sensing system configured to, for an image frame, emit an ultrasonic pulse from each of a plurality of transducers, receive a reflection of each ultrasonic pulse at a microphone array, perform transmit beamforming and also receive beamforming computationally after receiving the reflections, form a depth image, and output the depth image for the image frame.