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Automatically generated depth maps from video are usually not aligned with the objects in the original image and produced at lower resolutions. We propose to apply a joint-bilateral filter to smoothen the depth map within the objects and up sample it to the original image resolution while keeping object edges in the depth map aligned with the original image. We performed algorithmic and DSP specific optimizations to achieve the real-time implementation on an embedded DSP processor, TM3270, while preserving high quality results. Upsampling 90times72@50 Hz depth maps to 720times576@50 Hz, requires 69% to 86% of the TM3270 cycle budget.