1. A method for filtering depth information the depth information including a confidence measure; comprising: receiving input data including depth information on a scene, the depth information comprising a plurality of pixels, each pixel including a depth value and a confidence value; generating a spatial weighting matrix based on the confidence value of the input pixel, generating a confidence weight normalized filter for each pixel in the depth information, the confidence weight normalized filter based on the spatial weighting matrix including a filtering weight derived from pixel confidence values relative to a distance of pixels surrounding each said pixel and a confidence weighting matrix; combining the confidence weight normalized filter and the input data; and outputting filtered data to an application.