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In real-time video transmission, the loss of packet results in visual quality degraded for the succeeding frames. This paper proposes an efficient full frame algorithm for depth-based 3-D videos. Each frame can be regarded as combination of objects. True motion estimation (TME) and depth map are exploited to calculate the motion vector (MV) for each object. In this paper, the object is defined as the pixels with the same MV and similar depth value. Each object in reference frame can be extrapolated to reconstruct the damage frame by the object-based MV. In the consideration of computational complexity, in this method, only the high frequency regions need to execute TME. From the simulation results, our algorithm gives better visual quality and PSNR in most case.