We propose an extension of our previous work on spatial domain Time-of-Flight (ToF) data enhancement to the temporal domain. Our goal is to generate enhanced depth maps at the same frame rate of the 2-D camera that, coupled with a ToF camera, constitutes a hybrid ToF multi-camera rig. To that end, we first estimate the motion between consecutive 2-D frames, and then use it to predict their corresponding depth maps. The enhanced depth maps result from the fusion between the recorded 2-D frames

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... d the predicted depth maps by using our previous contribution on ToF data enhancement. The experimental results show that the proposed approach overcomes the ToF camera drawbacks; namely, low resolution in space and time and high level of noise within depth measurements, providing enhanced depth maps at video frame rate. Index Terms-Time of Flight, spatio-temporal data enhancement, sensor fusion, multimodal sensors.