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 confidence weight normalized filter for each pixel in the depth information, the confidence weight normalized filter including a filtering weight derived from confidence values relative to a distance of pixels surrounding each said pixel; combining the normalized filter and the input data; and outputting filtered data to an application.