A method of adjusting time-warping of a frame for a virtual reality or augmented reality system (100; 300; 400) based on depth information, the method including: determining a depth value for each of a plurality of pixels of a frame; characterized in that the frame is associated with a frame vertex grid that divides the frame into a plurality of polygons; and in that the method further comprises: down-sampling the depth values of a section of the frame to obtain a plurality of down-sampled depth values, the frame including one or more sections; determining a change in a head pose; determining, from the plurality of down-sampled depth values, a down-sampled depth value for a vertex of the frame vertex grid, comprising: determining a coordinate location of the vertex; and determining, from the plurality of down-sampled depth values, a down-sampled depth value for the coordinate location as a down-sampled depth value for the vertex; determining an adjusted position for the vertex based on the change in head pose and the down-sampled depth value for the vertex, wherein the adjusted position for the vertex comprises an adjusted x,y position based on an x,y offset from an initial x,y position of the vertex; performing, based on at least the adjusted position for the vertex, a depth-adjusted time-warping of the frame by shifting, rotating, adjusting or reprojecting the frame to correct for head motion or translation and to obtain a depth-adjusted time-warped frame; and triggering display of the depth-adjusted time-warped frame. determining a depth value for each of a plurality of pixels of a frame; characterized in that the frame is associated with a frame vertex grid that divides the frame into a plurality of polygons; and in that the method further comprises: down-sampling the depth values of a section of the frame to obtain a plurality of down-sampled depth values, the frame including one or more sections; determining a change in a head pose; determining, from the plurality of down-sampled depth values, a down-sampled depth value for a vertex of the frame vertex grid, comprising: determining a coordinate location of the vertex; and determining, from the plurality of down-sampled depth values, a down-sampled depth value for the coordinate location as a down-sampled depth value for the vertex; determining an adjusted position for the vertex based on the change in head pose and the down-sampled depth value for the vertex, wherein the adjusted position for the vertex comprises an adjusted x,y position based on an x,y offset from an initial x,y position of the vertex; performing, based on at least the adjusted position for the vertex, a depth-adjusted time-warping of the frame by shifting, rotating, adjusting or reprojecting the frame to correct for head motion or translation and to obtain a depth-adjusted time-warped frame; and triggering display of the depth-adjusted time-warped frame. down-sampling the depth values of a section of the frame to obtain a plurality of down-sampled depth values, the frame including one or more sections; determining a change in a head pose; determining, from the plurality of down-sampled depth values, a down-sampled depth value for a vertex of the frame vertex grid, comprising: determining a coordinate location of the vertex; and determining, from the plurality of down-sampled depth values, a down-sampled depth value for the coordinate location as a down-sampled depth value for the vertex; determining a coordinate location of the vertex; and determining, from the plurality of down-sampled depth values, a down-sampled depth value for the coordinate location as a down-sampled depth value for the vertex; determining an adjusted position for the vertex based on the change in head pose and the down-sampled depth value for the vertex, wherein the adjusted position for the vertex comprises an adjusted x,y position based on an x,y offset from an initial x,y position of the vertex; performing, based on at least the adjusted position for the vertex, a depth-adjusted time-warping of the frame by shifting, rotating, adjusting or reprojecting the frame to correct for head motion or translation and to obtain a depth-adjusted time-warped frame; and triggering display of the depth-adjusted time-warped frame.