The disclosure concerns a method for filtering spurious pixels in a depth-map. It is important to filter a depth-map to remove the spurious pixels. One issue when filtering spurious pixels, is to remove them while preserving the boundaries of the real details of the depth-map. A known approach to filter spurious pixels is to use a bi-lateral filter. However, the bi-lateral filter is not efficient to remove the spurious pixels. The proposed solution enables to remove spurious pixels in a depth-map while preserving the sharp edges of the depth-map and smoothing faint details or noise.