A method filters a depth image, wherein each depth image includes an array of pixels at locations (x, y), and wherein each pixel has a depth. A moving window is applied to the pixels in the depth image, wherein a size of the window covers a set of pixels centered at each pixel. A single representative depth from the set of pixel in the window is assigned to the pixel to produce a processed depth image. Then, each pixel in the processed depth image is filtered to correct outlier depths without blurring depth discontinuities to produce a filtered depth image.