ing at the problems that the classical bilateral filtering algorithm has a poor effect on depth image repair and cannot adjust the kernel function parameters accurately, a depth image repair algorithm based on morphology and improved bilateral filtering is proposed. First, the morphological algorithm is used to optimize the holes in the depth image to fill some small holes and filter out random noise. Then, using the improved bilateral filtering algorithm, the probability distribution function and the maximum likelihood function are introduced to calculate the kernel function parameter values in the neighborhood of each cavity and thus to adjust the kernel function parameter adaptively and realize the repair of large area holes. Finally, the median filter algorithm is used to smooth the image and thus to remove the "burr" of the depth image, and the edge details of the image are retained and the sharpness is also maintained. The experimental results show that the proposed algorithm can effectively fill the holes in the depth image without losing the original depth image information, can realize the goal of edge preservation and denoising, and has strong robustness.