A depth based scanning system can be configured to determine whether pixel depth values of a depth map are within a depth range; determine a component of the depth map comprised of connected pixels each with a depth value within the depth range; replace the depth values of any pixels of the depth map that are not connected pixels; determine whether each pixel of the connected pixels of the component has at least a threshold number of neighboring pixels that have a depth value within the depth range; and for each pixel of the connected pixels of the component, if the pixel is determined to have at least the threshold number of neighboring pixels, replace its depth value with a filtered depth value that is based on the depth values of the neighboring pixels that have a depth value within the depth range.