Various examples with respect to visual depth sensing with accurate and full-range depth fusion and sensing are described. A control circuit of an apparatus receives a plurality of sensor signals that are heterogeneous in type from a plurality of sensors. The control circuit generates first depth-related information of a scene and second depth-related information of the scene based on the plurality of sensor signals. The control circuit then fuses the first depth-related information and the second depth-related information to generate a fused depth map of the scene.