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The resolution of the depth map captured by a time-of-flight camera is rather limited; hence, it cannot be directly used to build a high-quality 3D model, together with an associated high-resolution texture image. In this paper, an improved depth up-sampling algorithm that considers two important characteristics of the depth map is proposed. First, the invariance of the fractal dimension between the low-resolution and high-resolution depth maps is maintained. Second, the boundaries of the depth map and its corresponding texture image are made to be consistent to provide a good synthesized virtual view. The experimental results show that the proposed method achieves superior performance for the up-sampled depth map and synthesized virtual view compared with classical approaches. [ABSTRACT FROM AUTHOR]