Techniques for setting depth values for invalid measurement regions of depth images are described herein. A computing device may set the depth values based on evaluations of depth values of neighboring pixels and of corresponding pixels from time-adjacent depth images. Alternately or additionally, the computing device may utilize a texture image corresponding to the depth image to identify objects and may set depth values for pixels based on depth values of other pixels belonging to the same object. After setting the depth values, the computing device may normalize the depth values of the pixels. Further, the computing device may generate reduced representations of the depth images based on a depth reference model or a depth error model and may provide the reduced representations to an encoder.