This paper proposes a method to recover lost regions in image-based depth maps used in video plus depth 3D format. This method performs depth maps reconstruction taking into account depth contours within the lost regions. This is achieved by extracting the contours and recovering their lost segments based on Bézier curve fitting, followed by spatial interpolation. The proposed method maintains contour smoothness and uses them as the boundary limits of homogeneous depth regions, which are then filled through weighted pixel interpolation. The experimental results show that the proposed method yields better synthesized images than classic spatial concealment methods, uniquely based on pixel interpolation techniques. The method presented in this paper is able to outperform the reference method, in terms of PSNR by up to 1.91dB. The subjective quality is also shown as being significantly better.