A method of processing depth maps, the method comprising: receiving by a receiving device a plurality of images and corresponding depth maps representing a scene from different view poses; updating depth values of a first depth map of the corresponding depth maps based on depth values of at least a second depth map of the corresponding depth maps, the first depth map being for a first image and the second depth map being for a second image; the updating comprising: determining a first candidate depth value for a first depth pixel of the first depth map at a first depth map position in the first depth map, the first candidate depth value being determined in response to at least one second depth value of a second depth pixel of the second depth map at a second depth map position in the second depth map; determining a first depth value for the first depth pixel by a weighted combination of a plurality of candidate depth values for the first depth map position, the weighted combination including the first candidate depth value weighted by a first weight; wherein determining the first depth value comprises: determining a first image position in the first image for the first depth map position, determining a third image position in a third image of the plurality of images, the third image position corresponding to a projection of the first image position to the third image based on the first candidate depth value; determining a first match error indication indicative of a difference between an image pixel value in the third image for the third image position and an image pixel value in the first image for the first image position, and determining the first weight in response to the first match error indication. receiving by a receiving device a plurality of images and corresponding depth maps representing a scene from different view poses; updating depth values of a first depth map of the corresponding depth maps based on depth values of at least a second depth map of the corresponding depth maps, the first depth map being for a first image and the second depth map being for a second image; the updating comprising: determining a first candidate depth value for a first depth pixel of the first depth map at a first depth map position in the first depth map, the first candidate depth value being determined in response to at least one second depth value of a second depth pixel of the second depth map at a second depth map position in the second depth map; determining a first depth value for the first depth pixel by a weighted combination of a plurality of candidate depth values for the first depth map position, the weighted combination including the first candidate depth value weighted by a first weight; determining a first candidate depth value for a first depth pixel of the first depth map at a first depth map position in the first depth map, the first candidate depth value being determined in response to at least one second depth value of a second depth pixel of the second depth map at a second depth map position in the second depth map; determining a first depth value for the first depth pixel by a weighted combination of a plurality of candidate depth values for the first depth map position, the weighted combination including the first candidate depth value weighted by a first weight; wherein determining the first depth value comprises: determining a first image position in the first image for the first depth map position, determining a third image position in a third image of the plurality of images, the third image position corresponding to a projection of the first image position to the third image based on the first candidate depth value; determining a first match error indication indicative of a difference between an image pixel value in the third image for the third image position and an image pixel value in the first image for the first image position, and determining the first weight in response to the first match error indication. determining a first image position in the first image for the first depth map position, determining a third image position in a third image of the plurality of images, the third image position corresponding to a projection of the first image position to the third image based on the first candidate depth value; determining a first match error indication indicative of a difference between an image pixel value in the third image for the third image position and an image pixel value in the first image for the first image position, and determining the first weight in response to the first match error indication.