A computing system includes a processing system with at least one processing unit. The processing system is configured to receive a depth map with a first boundary of an object. The processing system is configured to receive a color image that corresponds to the depth map. The color image includes a second boundary of the object. The processing system is configured to extract depth edge points of the first boundary from the depth map. The processing system is configured to identify target depth edge points on the depth map. The target depth edge points correspond to color edge points of the second boundary of the object in the color image. In addition, the processing system is configured to snap the depth edge points to the target depth edge points such that the depth map is enhanced with an object boundary for the object.