Free viewpoint video applications and autostereoscopic displays require the transmission of multiple views of a scene together with depth maps. Current compression and transmission solutions just handle these two data streams as separate entities. However, depth maps contain key information on the scene structure that can be effectively exploited to improve the performance of multi-view coding schemes. In this paper we introduce a novel coding architecture that replaces the inter-view motion prediction operation with a 3D warping approach based on depth information to improve the coding performances. Ad-hoc solutions for occluded areas are also provided. Experimental results show that the proposed joint texture-depth compression approach is able to outperform the state-of-the-art H.264 MVC coding standard performances at low bit rates.