Abstract: Recent breakthroughs in consumer level virtual reality (VR) headsets is creating a growing user-base in demand of immersive, full 3D VR experiences. While monoscopic 360-videos are one of the most common content for VR headsets, they lack 3D information and thus cannot be viewed with full 6 degree-of-freedom (DOF). We present an approach that addresses this limitation via a novel warping algorithm that can synthesize new views both with rotational and translational motion of the viewpoint. This enables to playback an input monoscopic 360-video in a VR headset where the new viewpoints are determined by the 6-DOF motion of the headset. Our solution tailors standard structure-from-motion and dense reconstruction algorithms to work accurately for 360-videos and is optimized for GPUs to achieve VR frame rates (> 120 fps). We demonstrate the effectiveness our approach on a variety of videos with interesting content.