1. A method for enhancing noisy or low-resolution image depth maps, comprising: receiving a color image I and a corresponding raw depth map D; determining unreliable regions in the raw depth map D by calculating pixel reliabilities for pixels throughout the depth map D; collecting from the color image I, for corresponding pixels in the unreliable regions of the raw depth map D, information from neighboring pixels outside the unreliable regions; adjusting depth of pixels in the unreliable regions with information collected in said step of collecting to produce an adjusted depth map D SS ; conducting multi-later filtering on the adjusted depth map to produce an enhanced depth map D MF .