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This paper proposes a unified multi-lateral filter to efficiently increase the spatial resolution of low-resolution and noisy depth maps in real-time. Time-of-Flight (ToF) cameras have become a very promising alternative to stereo-based range sensing systems as they provide depth measurements at a high frame rate. However, there are actually two main drawbacks that restrict their use in a wide range of applications; namely, their fairly low spatial resolution as well as the amount of noise within the depth estimation. In order to address these drawbacks, we propose a new approach based on sensor fusion. That is, we couple a ToF camera of low-resolution with a 2-D camera of higher resolution to which the low-resolution depth map will be efficiently upsampled. In this paper, we first review the existing depth map enhancement approaches based on sensor fusion and discuss their limitations. We then propose a unified …