Color-based depth smoothing of scanned 3D model to enhance geometry in 3D printing

Methods and systems for correcting depth irregularities in a three-dimensional scanned model. In particular, one or more embodiments obtain depth data and color data for an object using a depth scanner and a color scanner, respectively. One or more embodiments identify, based on edge information in the color data, regions that have no depth data that are part of the object. One or more embodiments then correct the depth frame by assigning depth data to the identified regions based on a gradient of depth data from areas near the identified regions. The methods and systems use the corrected depth data to generate a corrected three-dimensional model of the object.