1. A method, comprising: increasing, using a processor, a depth image resolution of a depth image to match a color image resolution of a two dimensional color image of a same scene and to produce an up-scaled depth image; removing, using the processor, noise in the up-scaled depth image using the color image and the up-scaled depth image, the removing including updating a depth of a target pixel in the up-scaled depth image based on similarities of neighboring pixels with respect to the target pixel and depths of the neighboring pixel, the similarities of the neighboring pixels being based on differences in one or more attribute values between the neighboring pixels and the target pixel; sharpening, using the processor, a boundary of an object in the up-scaled depth image from which the noise is removed to produce sharpened depth image; and generating, using the processor, a three dimensional color model of the scene using the sharpened depth image and the two dimensional color image.