1. A computer-implemented method of image processing comprising: receiving, at a processor, at least one color image from an RGB camera, the image being of a scene comprising a plurality of surfaces; applying the at least one color image to a trained machine learning component comprising at least one random decision forest; and receiving as output from the trained machine learning component, a depth map comprising, for individual image elements of the color image, distances from the RGB camera to the surfaces in the scene depicted by the individual image elements.