1. A method for fusing sensed measurements, comprising steps: acquiring depth measurements of a scene as a sequence of frames with a depth sensor; acquiring intensity measurements of the scene as a sequence of images with a camera, wherein a resolution of the depth sensor is less than a resolution of the camera, and further comprising computerized steps; searching for similar patches in multiple temporally adjacent frames of the depth measurements grouping the similar patches into blocks using the intensity measurements; increasing a resolution of the blocks using prior constraints to obtain increased resolution blocks; constructing a depth image with a resolution greater than the resolution of sensor from the increased resolution blocks; and repeating the computerized steps until a termination condition is reached.