Technologies for improving the accuracy of depth camera images include a computing device to generate a foreground mask and a background mask for an image generated by a depth camera. The computing device identifies areas of a depth image of a depth channel of the generated image having unknown depth values as one of interior depth holes or exterior depth holes based on the foreground and background masks. The computing device fills at least a portion of the interior depth holes of the depth image based on depth values of areas of the depth image within a threshold distance of the corresponding portion of the interior depth holes. Similarly, the computing device fills at least a portion of the exterior depth holes of the depth image based on depth values of areas of the depth image within the threshold distance of the corresponding portion of the exterior depth holes.