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Compared to conventional synthesis methods of free viewpoint images that use only multi-view images, our research synthesizes high quality free viewpoint images by using multi-view depth information as well as the images. By recovering high resolution and high precision 3D shapes from multi-view information, high quality free viewpoint images are synthesizable. Our research captures the scene by acquiring its multi-view depth appearance information, using a laser range finder. By performing camera parameter estimation, multi-view 3D shape integration and depth estimation, high quality free viewpoint images for any scene are synthesized. The performance of our method has been investigated by experimental results.