Pixelwise Filterable Depth Maps for Robots

A method includes receiving sensor data from a plurality of robot sensors on a robot. The method includes generating a depth map that includes a plurality of pixel depths. The method includes determining, for each respective pixel depth, based on the at least one robot sensor associated with the respective pixel depth, a pixelwise confidence level indicative of a likelihood that the respective pixel depth accurately represents a distance between the robot and a feature of the environment. The method includes generating a pixelwise filterable depth map for a control system of the robot. The pixelwise filterable depth map is filterable to produce a robot operation specific depth map. The robot operation specific depth map is determined based on a comparison of each respective pixelwise confidence level with a confidence threshold corresponding to at least one operation of the robot controlled by the control system of the robot.