In this paper, we devise a method that reduces distance errors in time-of-flight (ToF) images. Errors are exhibited at boundaries and surfaces that are not capable of reflecting the infrared ray. For the proposed method, at least two ToF cameras are required in the camera setup. ToF distance error region is estimated by comparing the captured ToF image with warped ToF image from the neighboring ToF camera. The distance values in the error region are replaced. A number of methods are examined to select the optimum replacement value. After distance error reduction, this method is inserted into the aforementioned depth map generation framework. The performance is analyzed by evaluating a synthetic image which is generated by the depth map result.