The invention discloses a robust depth map structure reconstruction and denoising method based on a guided filter, which detects structural error areas and detects places where the input depth map has a large difference between the guided filtering of the large window and the guided filtering of the small window , since the guided filtering under a large window can have a feathering effect, while the guided filtering of a small window only plays a smoothing role, so the area with a large difference can be considered as a structural error area, marked as a potential structural error area, and then based on iterative reweighting The least squares algorithm constructs the weights. After the weights are constructed, the overall solution is performed and the depth map is updated. According to the results, it is judged whether the set number of iterations is reached. If it is reached, the depth map is output to end the calculation. Otherwise, the structural error area is detected again. The invention can suppress strong noise, repair structural error areas of the depth map and the color map, improve the consistency of the depth map and the color map, restore the correct depth map boundary, and have important guiding significance for improving the quality of the synthetic view.