According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo data, where the stereo data includes a first input image and a second input image, and a depth sensing computing system configured to predict a depth map. The depth sensing computing system includes a feature extractor configured to extract features from the first and second images at a plurality of resolutions, an initialization engine configured to generate a plurality of depth estimations, where each of the plurality of depth estimations corresponds to a different resolution, and a propagation engine configured to iteratively refine the plurality of depth estimations based on image warping and spatial propagation.