A multi-aperture imaging system determines depth map information. A series of image frames of a scene are captured. The frames include a normal image frame and at least one structured image frame. The multi-aperture imaging system determines edge information of an object in the scene using a deblur technique and the normal image frame. The multi-aperture imaging system determines fill depth information for the object based in part on the at least one structured image frame. The multi-aperture imaging system generates a depth map of the scene using the edge depth information and the fill depth information.