diff --git a/crates/viewer/re_renderer/shader/depth_cloud.wgsl b/crates/viewer/re_renderer/shader/depth_cloud.wgsl
index b2784acc7bb4..1504e2579aed 100644
--- a/crates/viewer/re_renderer/shader/depth_cloud.wgsl
+++ b/crates/viewer/re_renderer/shader/depth_cloud.wgsl
@@ -182,9 +182,14 @@ fn vs_main(@builtin(vertex_index) vertex_idx: u32) -> VertexOut {
     return out;
 }
 
+fn coverage(world_position: vec3f, radius: f32, point_center: vec3f) -> f32 {
+    let sphere_intersection = ray_sphere_distance(camera_ray_to_world_pos(world_position), point_center, radius);
+    return sphere_quad_coverage(sphere_intersection);
+}
+
 @fragment
 fn fs_main(in: VertexOut) -> @location(0) vec4f {
-    let coverage = sphere_quad_coverage(in.pos_in_world, in.point_radius, in.point_pos_in_world);
+    let coverage = coverage(in.pos_in_world, in.point_radius, in.point_pos_in_world);
     if coverage < 0.001 {
         discard;
     }
@@ -193,7 +198,7 @@ fn fs_main(in: VertexOut) -> @location(0) vec4f {
 
 @fragment
 fn fs_main_picking_layer(in: VertexOut) -> @location(0) vec4u {
-    let coverage = sphere_quad_coverage(in.pos_in_world, in.point_radius, in.point_pos_in_world);
+    let coverage = coverage(in.pos_in_world, in.point_radius, in.point_pos_in_world);
     if coverage <= 0.5 {
         discard;
     }
@@ -205,7 +210,7 @@ fn fs_main_outline_mask(in: VertexOut) -> @location(0) vec2u {
     // Output is an integer target, can't use coverage therefore.
     // But we still want to discard fragments where coverage is low.
     // Since the outline extends a bit, a very low cut off tends to look better.
-    let coverage = sphere_quad_coverage(in.pos_in_world, in.point_radius, in.point_pos_in_world);
+    let coverage = coverage(in.pos_in_world, in.point_radius, in.point_pos_in_world);
     if coverage < 1.0 {
         discard;
     }
diff --git a/crates/viewer/re_renderer/shader/point_cloud.wgsl b/crates/viewer/re_renderer/shader/point_cloud.wgsl
index 1d9c441b6468..3cd8f247627e 100644
--- a/crates/viewer/re_renderer/shader/point_cloud.wgsl
+++ b/crates/viewer/re_renderer/shader/point_cloud.wgsl
@@ -66,6 +66,14 @@ struct VertexOut {
     picking_instance_id: vec2u,
 };
 
+struct FragmentOut {
+    @location(0)
+    color: vec4f,
+
+    @builtin(frag_depth)
+    depth: f32
+}
+
 struct PointData {
     pos: vec3f,
     unresolved_radius: f32,
@@ -136,49 +144,78 @@ fn circle_quad_coverage(world_position: vec3f, radius: f32, circle_center: vec3f
     return smoothstep(radius + feathering_radius, radius - feathering_radius, distance);
 }
 
-fn coverage(world_position: vec3f, radius: f32, point_center: vec3f) -> f32 {
+fn coverage_and_depth(projected_z: f32, world_position: vec3f, radius: f32, point_center: vec3f) -> vec2f {
     if is_camera_orthographic() || has_any_flag(batch.flags, FLAG_DRAW_AS_CIRCLES) {
-        return circle_quad_coverage(world_position, radius, point_center);
+        let coverage = circle_quad_coverage(world_position, radius, point_center);
+        let depth = projected_z;
+        return vec2f(coverage, depth);
     } else {
-        return sphere_quad_coverage(world_position, radius, point_center);
+        let camera_ray = camera_ray_to_world_pos(world_position);
+        let sphere_intersection = ray_sphere_distance(camera_ray_to_world_pos(world_position), point_center, radius);
+        let coverage = sphere_quad_coverage(sphere_intersection);
+        let sphere_hit_position = camera_ray.origin + camera_ray.direction * sphere_intersection.distance_to_closest_hit_on_ray;
+        let sphere_hit_position_projected = apply_depth_offset(frame.projection_from_world * vec4f(sphere_hit_position, 1.0), batch.depth_offset);
+        let depth = sphere_hit_position_projected.z / sphere_hit_position_projected.w;
+        return vec2f(coverage, depth);
     }
 }
 
 
 @fragment
-fn fs_main(in: VertexOut) -> @location(0) vec4f {
-    let coverage = coverage(in.world_position, in.radius, in.point_center);
-    if coverage < 0.001 {
+fn fs_main(in: VertexOut) -> FragmentOut {
+    let coverage_depth = coverage_and_depth(in.position.z, in.world_position, in.radius, in.point_center);
+    if coverage_depth.x < 0.001 {
         discard;
     }
 
-    // TODO(andreas): Do we want manipulate the depth buffer depth to actually render spheres?
     // TODO(andreas): Proper shading
     // TODO(andreas): This doesn't even use the sphere's world position for shading, the world position used here is flat!
     var shading = 1.0;
     if has_any_flag(batch.flags, FLAG_ENABLE_SHADING) {
         shading = max(0.4, sqrt(1.2 - distance(in.point_center, in.world_position) / in.radius)); // quick and dirty coloring
     }
-    return vec4f(in.color.rgb * shading, coverage);
+    return FragmentOut(
+        vec4f(in.color.rgb * shading, coverage_depth.x),
+        coverage_depth.y,
+    );
+}
+
+struct PickingLayerOut {
+    @location(0)
+    picking_id: vec4u,
+
+    @builtin(frag_depth)
+    depth: f32
 }
 
 @fragment
-fn fs_main_picking_layer(in: VertexOut) -> @location(0) vec4u {
-    let coverage = coverage(in.world_position, in.radius, in.point_center);
-    if coverage <= 0.5 {
+fn fs_main_picking_layer(in: VertexOut) -> PickingLayerOut {
+    let coverage_depth = coverage_and_depth(in.position.z, in.world_position, in.radius, in.point_center);
+    if coverage_depth.x <= 0.5 {
         discard;
     }
-    return vec4u(batch.picking_layer_object_id, in.picking_instance_id);
+    return PickingLayerOut(
+        vec4u(batch.picking_layer_object_id, in.picking_instance_id),
+        coverage_depth.y,
+    );
+}
+
+struct OutlineMaskOut {
+    @location(0)
+    mask: vec2u,
+
+    @builtin(frag_depth)
+    depth: f32
 }
 
 @fragment
-fn fs_main_outline_mask(in: VertexOut) -> @location(0) vec2u {
+fn fs_main_outline_mask(in: VertexOut) -> OutlineMaskOut {
     // Output is an integer target, can't use coverage therefore.
     // But we still want to discard fragments where coverage is low.
     // Since the outline extends a bit, a very low cut off tends to look better.
-    let coverage = coverage(in.world_position, in.radius, in.point_center);
-    if coverage < 1.0 {
+    let coverage_depth = coverage_and_depth(in.position.z, in.world_position, in.radius, in.point_center);
+    if coverage_depth.x < 1.0 {
         discard;
     }
-    return batch.outline_mask;
+    return OutlineMaskOut(batch.outline_mask, coverage_depth.y);
 }
diff --git a/crates/viewer/re_renderer/shader/utils/camera.wgsl b/crates/viewer/re_renderer/shader/utils/camera.wgsl
index 3a30bbfdbae0..c8f1b327bcd4 100644
--- a/crates/viewer/re_renderer/shader/utils/camera.wgsl
+++ b/crates/viewer/re_renderer/shader/utils/camera.wgsl
@@ -63,16 +63,23 @@ fn camera_ray_direction_from_screenuv(texcoord: vec2f) -> vec3f {
     return normalize(world_space_dir);
 }
 
-// Returns distance to sphere surface (x) and distance to closest ray hit (y)
+struct SphereIntersection {
+    distance_to_sphere_surface: f32,
+    distance_to_closest_hit_on_ray: f32,
+}
+
+// Returns distance to sphere surface and distance to closest ray hit.
 // Via https://iquilezles.org/articles/spherefunctions/ but with more verbose names.
-fn ray_sphere_distance(ray: Ray, sphere_origin: vec3f, sphere_radius: f32) -> vec2f {
+fn ray_sphere_distance(ray: Ray, sphere_origin: vec3f, sphere_radius: f32) -> SphereIntersection {
     let sphere_radius_sq = sphere_radius * sphere_radius;
     let sphere_to_origin = ray.origin - sphere_origin;
     let b = dot(sphere_to_origin, ray.direction);
     let c = dot(sphere_to_origin, sphere_to_origin) - sphere_radius_sq;
     let h = b * b - c;
-    let d = sqrt(max(0.0, sphere_radius_sq - h)) - sphere_radius;
-    return vec2f(d, -b - sqrt(max(h, 0.0)));
+    var intersection: SphereIntersection;
+    intersection.distance_to_sphere_surface = sqrt(max(0.0, sphere_radius_sq - h)) - sphere_radius;
+    intersection.distance_to_closest_hit_on_ray = -b - sqrt(max(h, 0.0));
+    return intersection;
 }
 
 // Returns the projected size of a pixel at a given distance from the camera.
diff --git a/crates/viewer/re_renderer/shader/utils/sphere_quad.wgsl b/crates/viewer/re_renderer/shader/utils/sphere_quad.wgsl
index ad61de568e9e..ecbbbeb005db 100644
--- a/crates/viewer/re_renderer/shader/utils/sphere_quad.wgsl
+++ b/crates/viewer/re_renderer/shader/utils/sphere_quad.wgsl
@@ -89,16 +89,12 @@ fn sphere_or_circle_quad_span(vertex_idx: u32, point_pos: vec3f, world_radius: f
 }
 
 /// Computes coverage of a 3D sphere placed at `sphere_center` in the fragment shader using the currently set camera.
-fn sphere_quad_coverage(world_position: vec3f, radius: f32, sphere_center: vec3f) -> f32 {
-    let ray = camera_ray_to_world_pos(world_position);
-
+fn sphere_quad_coverage(sphere_intersection: SphereIntersection) -> f32 {
     // Sphere intersection with anti-aliasing as described by Iq here
     // https://www.shadertoy.com/view/MsSSWV
     // (but rearranged and labeled to it's easier to understand!)
-    let d = ray_sphere_distance(ray, sphere_center, radius);
-    let distance_to_sphere_surface = d.x;
-    let closest_ray_dist = d.y;
-    let pixel_world_size = approx_pixel_world_size_at(closest_ray_dist);
+    let distance_to_sphere_surface = sphere_intersection.distance_to_sphere_surface;
+    let pixel_world_size = approx_pixel_world_size_at(sphere_intersection.distance_to_closest_hit_on_ray);
 
     let distance_to_surface_in_pixels = distance_to_sphere_surface / pixel_world_size;