1. A method for increasing a resolution of a low resolution depth image, using joint geodesic upsampling comprising the steps of: computing geodesic distances in a high resolution image; and interpolating depths in the low resolution depth image using the geodesic distances to obtain a high resolution depth image, wherein the steps are performed in a processor, further comprising: demultiplexing seed pixels in the high resolution image into channels that are disjoint; applying the joint geodesic distance transform to the channels to produce a geodesic distance from each pixel to a nearest seed pixel in each channel; and propagating the depths in the low resolution depth image to the high resolution depth image according to the geodesic distances.