Systems and methods are disclosed for creating image maps. Some embodiments include a method comprising the steps of: capturing a first image illuminated by natural light and capturing a second image illuminated by infrared light. The second image may be captured at the same time as the first image. The R, G, and B values for each pixel in the first image may be determined. The intensity for each pixel in the first image may be calculated. An IR intensity for each pixel in the second image may be calculated. A depth value may then be estimated for each pixel using the ratio of the IR intensity and the intensity of corresponding pixels in the first and second images.