Depth camera based on the principle of time of flight can capture dept h maps in real time. Because the resolution of the captured depth maps is lower than that of the corr esponding color images, they need to be upsampled so as to represent the depth perception information of scenes reasonably.To address the problem that the upsampling methods for low resolution depth images are prone to result in edge blurring,a depth upsampling algorithm based on image edge characteristics is proposed.On the one hand,the correlation coefficient of depth and color images of the same low resolution are used to adjust the weight of depth and color in the process of depth image edge upsampli ng adaptively.On the other hand,discontinuous regions in the low resolution depth images are refined to further reduce the edge blurring phenomenon by combining the upsampled value with neighbor pixel va lues of low resolution depth image.Experimental results show that the proposed algorithm ou tperforms other algorithms reported in the literatures.The average bad pixel rate,root mean sq uare error and peak signal to noise ratio (PSNR) of the upsampled depth imag es are 2.07%,3.46and 38.58dB,respectively. The average PSNR of the rendered virtual view is 39.58d B.