1. A method comprising: accessing a depth image corresponding to an intensity image; determining a segmentation based on the intensity image, wherein the intensity image is associated with the corresponding depth image that includes depth values for corresponding locations in the intensity image; applying the segmentation to the depth image to segment the depth image into multiple regions; enhancing said segmentation using said depth image to generate an enhanced segmentation; and modifying a depth value in the depth image based on the segmentation, wherein said modifying a depth value in the depth image based on the segmentation comprises filling one or more holes in said depth image using the enhanced segmentation to generate an improved depth image.