Full version available at: http://rdcu.be/zHtU

Depth data has a widespread use since the popularity of high resolution 3D sensors. In multi-view sequences, depth information is used to supplement the color data of each view. This article proposes a joint encoding of multiple depth maps with a unique representation. Color and depth images of each view are segmented independently and combined in an optimal Rate-Distortion fashion. The resulting partitions are projected to a reference view where a coherent hierarchy for the multiple views is built. A Rate-Distortion optimization is applied to obtain the final segmentation choosing nodes of the hierarchy. The consistent segmentation is used to robustly encode depth maps of multiple views obtaining competitive results with HEVC coding standards.