An adaptive unsharp masking filter is proposed to enhance the details blurred in the depth map filtered. Firstly, the color image is used as guided image in joint bilateral filter to recover the lost region and reduce the noise. Then a mask is extracted by subtracting a low-pass filtered depth map from the bilateral filtered depth map, which effectively overcomes the shortcoming of traditional method that amplifies high-frequency noise. Finally, according to degree of blur, the spatial importance is adaptively added to the depth map filtered. Experimental results show that the proposed method performs better in enhancing the details, reducing noise and recovering the lost region of depth map.