A mixed-reality system comprising: one or more processors ; and one or more computer-readable media having stored computer-executable instructions that are operable, when executed by the one or more processors , to cause the mixed-reality system to implement a method, the method comprising: obtaining a first pair of images of a real-world environment; using the first pair of images, generating a texture map (T1) of a real-world environment ; using the first pair of images, generating a depth map (D1) of the real-world environment , wherein the depth map (D1) generation is completed at a time later than a time when the texture map (T1) generation was completed; obtaining a second pair of images of the real-world environment, the second pair of images being obtained at a later time than a time when the first pair of images were obtained such that a temporal offset exists between when the first pair of images were obtained and when the second pair of images were obtained; using the second pair of images, generating an updated texture map (T5) of the real-world environment ; and rendering a virtual representation of the real-world environment utilizing both the generated depth map (D1) and the generated updated texture map (T5), said rendering being performed by combining the generated updated texture map (T5) with the generated depth map (D1) to render the virtual representation. one or more processors ; and one or more computer-readable media having stored computer-executable instructions that are operable, when executed by the one or more processors , to cause the mixed-reality system to implement a method, the method comprising: obtaining a first pair of images of a real-world environment; using the first pair of images, generating a texture map (T1) of a real-world environment ; using the first pair of images, generating a depth map (D1) of the real-world environment , wherein the depth map (D1) generation is completed at a time later than a time when the texture map (T1) generation was completed; obtaining a second pair of images of the real-world environment, the second pair of images being obtained at a later time than a time when the first pair of images were obtained such that a temporal offset exists between when the first pair of images were obtained and when the second pair of images were obtained; using the second pair of images, generating an updated texture map (T5) of the real-world environment ; and rendering a virtual representation of the real-world environment utilizing both the generated depth map (D1) and the generated updated texture map (T5), said rendering being performed by combining the generated updated texture map (T5) with the generated depth map (D1) to render the virtual representation. obtaining a first pair of images of a real-world environment; using the first pair of images, generating a texture map (T1) of a real-world environment ; using the first pair of images, generating a depth map (D1) of the real-world environment , wherein the depth map (D1) generation is completed at a time later than a time when the texture map (T1) generation was completed; obtaining a second pair of images of the real-world environment, the second pair of images being obtained at a later time than a time when the first pair of images were obtained such that a temporal offset exists between when the first pair of images were obtained and when the second pair of images were obtained; using the second pair of images, generating an updated texture map (T5) of the real-world environment ; and rendering a virtual representation of the real-world environment utilizing both the generated depth map (D1) and the generated updated texture map (T5), said rendering being performed by combining the generated updated texture map (T5) with the generated depth map (D1) to render the virtual representation. <EOS>