1. A method comprising: receiving at least one originally captured image depicting one or more objects in an environment of a time of flight camera for a single frame by the time of flight camera; training a region detector as a trained region detector using training data comprising other originally captured time of flight images, the other originally captured time of flight images having labeled regions of interest; inputting the at least one originally captured image to the trained region detector and receiving in response one or more regions of interest in the at least one originally captured image, a region of interest comprising image elements which are predicted, based at least in part on regions of interest in earlier frames, to depict at least part of the one or more objects; and computing depth from the one or more regions of interest of the at least one originally captured image.