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Three-dimensional (3D) video technologies are becoming increasingly popular, as they can provide high quality and immersive experience to end users, where depth maps are employed to generate the virtual views by depth-image-based rendering technique. However, how to reduce the compression and rendering complexities for depth maps while maintaining high rendering quality is still unresolved. In this study, a novel depth map compression and depth-aided view rendering method is proposed. In the proposed method, depth maps are represented with different layers and compressed with different macroblock-mode decision procedure, and several optimisation techniques, including spatio-temporal consistent warping, colour correction and temporal consistent hole filling are embedded into the view rendering framework. Experimental results show that compared with the traditional method, the proposed method can reduce more than 79% compression computational complexity and more than 45% rendering computational complexity, while maintaining high rendering quality.