This paper addresses depth data recovery in multiview video-plus-depth communications affected by transmission errors and/or packet loss. The novel aspects of the proposed method rely on the use of geometric transforms and warping vectors, capable of capturing complex motion and view-dependent deformations, which are not efficiently handled by traditional motion and/or disparity compensation methods. By exploiting the geometric nature of depth information, a region matching approach combined with depth contour reconstruction is devised to achieve accurate interpolation of arbitrary shapes within lost regions of depth maps. The simulation results show that, for different packet loss rates, up to 20%, the depth maps recovered by the proposed method produce virtual views with better quality than existing methods based on motion information and spatial interpolation. An average PSNR gain of 1.48 dB is obtained in virtual views synthesised from depth maps using the proposed method.