We designed an end‐to‐end dual‐branch residual network architecture that inputs a low-resolution (LR) depth map and a corresponding high‐resolution (HR) color image separately into the two branches, and outputs an HR depth map through a multi‐scale, channel‐wise feature extraction, interaction, and upsampling. Each branch of this network contains several residual levels at different scales, and each level comprises multiple residual groups composed of several residual blocks. A short‐skip connection in every residual block and a long‐skip connection in each residual group or level allow for low‐frequency information to be bypassed while the main network focuses on learning high‐frequency information. High‐frequency information learned by each residual block in the color image branch is input into the corresponding residual block in the depth map branch, and this kind of channel‐wise feature supplement and fusion can not only help the depth map branch to alleviate blur in details like edges, but also introduce some depth artifacts to feature maps. To avoid the above introduced artifacts, the channel interaction fuses the feature maps using weights referring to the channel attention mechanism. The parallel multi‐scale network architecture with channel interaction for feature guidance is the main contribution of our work and experiments show that our proposed method had a better performance in terms of accuracy compared with other methods.