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In this paper, we propose a new scheme to generate region-of-interest (ROI) enhanced depth maps combining one low-resolution depth camera with high-resolution stereoscopic cameras. Basically, the hybrid camera system produces four synchronized images at each frame: left and right images from the stereoscopic cameras, a color image and its associated depth map from the depth camera. In the hybrid camera system, after estimating initial depth information for the left image using a stereo matching algorithm, we project depths obtained from the depth camera onto ROI of the left image using three-dimensional (3-D) image warping. Then, the warped depths are linearly interpolated to fill depth holes occurred in ROI. Finally, we merge the ROI depths with background ones extracted from the initial depth information to generate the ROI enhanced depth map. Experimental results show that the proposed depth acquisition system provides more accurate depth information for ROI than previous stereo matching algorithms. Besides, the proposed scheme minimizes inherent problems of the current depth camera, such as limitation of its measuring distance and production of low-resolution depth maps.