1. For use with a sensor system that includes first sensors to acquire z-depth and brightness data at a first resolution, and second sensors to acquire RGB data at a higher second resolution, said first and second sensors acquiring data substantially simultaneously, a method to combine data acquired by said first sensors with data acquired by said second sensors such that an RGBZ image may be rendered whose resolution is higher than said first resolution, the method including the following steps: (a) correlating timing information with data acquired by said first sensors and with data acquired by said second sensors; and (b) up-sampling and increasing resolution of data acquired by said first sensors such that an RGBZ model may be rendered from data so up-sampled and increased in resolution, resolution of said RGBZ model exceeding said first resolution of said first sensors.