Method, system and apparatus for forming a high resolution depth map

An input depth map is received having less resolution than an image. From a window region about an image pixel of the image, pixels are selected having a substantially similar characteristic value as the image pixel. A reference depth value is determined for the image pixel from depth values in the input depth map which correspond to each of the selected pixels. Weights are determined for each pixel within the window region based on a difference between a depth value corresponding to each of the selected pixels and the determined reference depth value for the image pixel. A refined depth value is determined for the image pixel from a weighted sum of the depth values corresponding to each of the selected pixels. A high resolution depth map corresponding to the image is determined from the refined depth value.