Depth information plays an important role in many modern computer vision applications, including industrial robotics, autonomous driving and 3D scene understanding and reconstruction. However, most of low-end depth sensors commonly used today are not able to meet effectively the requirements of algorithms in these downstream applications, especially in terms of spatial resolution. Moreover, depth images provided by such sensors often show a significant amount of noise and information loss, making depth enhancement an interesting and active research area. Noise in depth images becomes particularly problematic in applications that demand high precision, such as industrial robotics, where accuracy on the millimeter scale is often crucial.