Current active 3D range sensors, such as time-of-flight cameras, enable acquiring of range maps at video frame rate. Unfortunately, the resolution of the range maps is quite limited and the captured data are typically contaminated by noise. We therefore present a simple pipeline to enhance the quality as well as improve the spatial and depth resolution of range data in real time by up sampling the depth information with the data from high resolution video camera and utilizing a new strategy to increase the sub-pixel accuracy. Our algorithm can greatly improve the reconstruction quality, boost the resolution of the range data to that of video sensor while achieving high computational efficiency for a real-time application.