The recent evolution of 3D video system technologies is a consequence of multimedia content producers efforts to provide 3D immersion to the user. The 3D contents are available to a great range of technologies such as mobile devices (mobile phones and tablets), personal computers and televisions which increases even more the number of users. This fact has turned out made 3D television (3DTV) and Free ViewPoint Television (FTV) a promising topic regarding researches in 3D technologies.The use of video+depth and multiview+depth approaches provides an optimized way of streaming 3D content on these applications. The view synthesis is a required procedure when using the aforementioned approaches, being the depth-image-based rendering (DIBR)a fundamental method in this context. The DIBR produces virtual views that have holes, which are also called disocclusion. Filling these holes in a visually plausible way is essential to minimise the degradation of quality of the view synthesis results.Therefore, this work presents an inpainting algorithm that uses depth maps as aid for filling the holes present in virtual images, which are generated by the view synthesis process. Objective and subjective results show that the proposed algorithm has better performance in various image sequences in comparison to other state-of-art algorithms.