The invention discloses an indoor scene real-time reconstruction tracking service method based on an elderly care robot. The method comprises the steps that user information of handheld equipment is imported, denoised and filtered, and preliminary analysis processing is carried out; data is transmitted to a data storage area in the data interaction module through the wireless transmission module;the image acquisition module uses Kinect V2 to acquire an indoor image, including acquisition depth information and color information; reconstructing is performed to obtain multi-frame depth information, and denoising is performed; coordinate axis transformation is carried out to obtain point cloud information; a rigid body transformation matrix is calculated, and an ICP algorithm is adopted; repeated region fusion between image frames is carried out , key point cloud information is extracted, and color information is added; a movement track of the depth camera is planned; triangular meshing is carried out on the point cloud information to generate a three-dimensional model; the three-dimensional model is put into an information storage area of a data interaction module; and a current useris determined, the service is tracked by using the Kinect V2, and an instruction sent by the user is monitored so as to complete a corresponding service function.