diff --git a/src/lerobot/utils/feature_utils.py b/src/lerobot/utils/feature_utils.py
index 2a4886234..3ac32ae5f 100644
--- a/src/lerobot/utils/feature_utils.py
+++ b/src/lerobot/utils/feature_utils.py
@@ -69,6 +69,7 @@ def hw_to_dataset_features(
         for key, ftype in hw_features.items()
         if ftype is float or (isinstance(ftype, PolicyFeature) and ftype.type != FeatureType.VISUAL)
     }
+    #TODO(CarolinePascal): we should not rely on the shape to determine if a feature is a camera !
     cam_fts = {key: shape for key, shape in hw_features.items() if isinstance(shape, tuple)}
 
     if joint_fts and prefix == ACTION:
@@ -86,11 +87,22 @@ def hw_to_dataset_features(
         }
 
     for key, shape in cam_fts.items():
-        features[f"{prefix}.images.{key}"] = {
-            "dtype": "video" if use_video else "image",
-            "shape": shape,
-            "names": ["height", "width", "channels"],
-        }
+        dtype = "video" if use_video else "image"
+        if len(shape) == 2 or shape[2] == 1:
+            if len(shape) == 2:
+                shape = (shape[0], shape[1], 1)
+            features[f"{prefix}.depth_maps.{key}"] = {
+                "dtype": dtype,
+                "shape": shape,
+                "names": ["height", "width", "channels"],
+                "info": {dtype + ".is_depth_map": True},
+            }
+        else:
+            features[f"{prefix}.images.{key}"] = {
+                "dtype": dtype,
+                "shape": shape,
+                "names": ["height", "width", "channels"],
+            }
 
     _validate_feature_names(features)
     return features
@@ -120,7 +132,10 @@ def build_dataset_frame(
         elif ft["dtype"] == "float32" and len(ft["shape"]) == 1:
             frame[key] = np.array([values[name] for name in ft["names"]], dtype=np.float32)
         elif ft["dtype"] in ["image", "video"]:
-            frame[key] = values[key.removeprefix(f"{prefix}.images.")]
+            if ft["info"].get(ft["dtype"] + ".is_depth_map"):
+                frame[key] = values[key.removeprefix(f"{prefix}.depth_maps.")]
+            else:
+                frame[key] = values[key.removeprefix(f"{prefix}.images.")]
 
     return frame