1. A method comprising: accessing reference images and corresponding reference depth maps from a reference database, a first reference image corresponding to a first reference depth map and including a color pixel defined by at least three color values, the first reference depth map including a depth value that corresponds to the color pixel in the first reference image; calculating visual descriptors and corresponding depth descriptors from the accessed reference images and their corresponding reference depth maps; generating a matrix that correlates the calculated visual descriptors with their calculated corresponding depth descriptors, the generating of the matrix being performed by a processor of a machine; receiving a query image that depicts a surface of a physical item; calculating a visual descriptor from the received query image; obtaining a depth descriptor that corresponds to the calculated visual descriptor from the generated matrix; creating a depth map that corresponds to the query image based on the obtained depth descriptor that corresponds to the visual descriptor calculated from the query image; subdividing the query image that depicts the surface into superpixels; and modifying the created depth map of the query image by modifying an orientation of a plane represented by a superpixel among the superpixels based on a summation of depth values of color pixels in the superpixel and based on a cardinality of the depth values of the color pixels in the superpixel.