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In this paper, we propose a novel method for solving range image super resolution problem. Given a low resolution range image as input, we recover a high resolution range image using a registered and potentially high resolution camera image of the same scene. We solve this range image super resolution problem by combining the advantages of guided image filter and reconstruction constrain. Specifically, based on the fact that discontinuities in range and coloring tend to co-align, we apply the guided image filter to integrate the registered high resolution camera image into the range data and generate an initial high resolution range image. Moreover, a reconstruction constraint is also used to further improve the quality of the initial high resolution range image iteratively. Experiments demonstrate that our approach can get excellent high resolution range image in terms of both its spatial resolution and depth …