In this paper we propose a depth-aided patch based inpainting method to perform the disocclusion of holes that appear when synthesizing virtual views from RGB-D scenes. Depth information is added to each key step of the classical patch-based algorithm from [Criminisi et al. 2004] to guide the synthesis of missing structures and textures. These contributions result in a new inpainting method which is efficient compared to state-of-the-art approaches (both in visual quality and computational burden), while requiring only a single easy-to-adjust additional parameter.