Generally,it has a poor effect if the depth data obtained by Kinect c amera are directly used in 3D-reconstruction system due to the noise and black holes.To sol ve this problem,a depth image restoration method based on pixel filtering and median filtering is proposed.Firstly,search for each pixel in the picture and find the 0value pixels.Secondly,use the pixel filter to repair it and fill the b lack holes in the picture.Finally,bilateral filters are used to remove noise and preserve edge information.The experimental results show that the proposed method can both remove the noise and repair the black holes at the same time.Com pared with the original depth image, the black holes in the picture are obviously reduced,and the image quality is g reatly improved.