An image processing apparatus, comprising: a first calculator (120; 121; 122) to calculate weights of frame values of pixels in images; and a second calculator (120; 123) to calculate corrected frame values of pixels using linear sums calculated by applying calculated weights to the frame values of the pixels, wherein the images comprise depth images and the frame values comprise frame depth values, wherein the first calculator (120; 121; 122) is arranged to calculate a first weight of a first frame depth value of a first pixel of a first depth image at a first obtainment time and at least a second weight of a second frame depth value of the first pixel of a second depth image at a second obtainment time, based on at least one of - a difference between the first frame depth value of the first pixel at the first obtainment time and the second frame depth value of the first pixel at the second obtainment time, and - a difference in time between obtainment times between frames, wherein the second calculator (120; 123) is arranged to determine a corrected first frame depth value of the first pixel using a linear sum calculated by applying the first weight to the first frame depth value of the first pixel, and by applying the second weight to the second frame depth value of the first pixel, and wherein the second obtainement time occurs before the first obtainement time, and the corrected first frame depth value is determined without using any frame depth value acquired after the first obtainment time. a first calculator (120; 121; 122) to calculate weights of frame values of pixels in images; and a second calculator (120; 123) to calculate corrected frame values of pixels using linear sums calculated by applying calculated weights to the frame values of the pixels, wherein the images comprise depth images and the frame values comprise frame depth values, wherein the first calculator (120; 121; 122) is arranged to calculate a first weight of a first frame depth value of a first pixel of a first depth image at a first obtainment time and at least a second weight of a second frame depth value of the first pixel of a second depth image at a second obtainment time, based on at least one of - a difference between the first frame depth value of the first pixel at the first obtainment time and the second frame depth value of the first pixel at the second obtainment time, and - a difference in time between obtainment times between frames, - a difference between the first frame depth value of the first pixel at the first obtainment time and the second frame depth value of the first pixel at the second obtainment time, and - a difference in time between obtainment times between frames, wherein the second calculator (120; 123) is arranged to determine a corrected first frame depth value of the first pixel using a linear sum calculated by applying the first weight to the first frame depth value of the first pixel, and by applying the second weight to the second frame depth value of the first pixel, and wherein the second obtainement time occurs before the first obtainement time, and the corrected first frame depth value is determined without using any frame depth value acquired after the first obtainment time.