The present invention discloses a real-time reconstruction method for a three-dimensional scene based on a depth camera. The method comprises the following steps: acquiring original depth data and color data, performing denoising processing on the depth data, performing coordinate conversion on a depth image, performing camera attitude tracking, performing point cloud fusion and recording color information, performing point cloud model implicit surface rendering, and performing scene model reconstruction. According to the method disclosed by the present invention, the scene is scanned by usinga single depth camera, a depth data stream of the scene is obtained, real-time processing is performed on the data on the computer, and a corresponding three-dimensional model is generated; and a three-dimensional reconstruction system with a low cost, an easy operation, high quality and real-time performance can be provided, and a three-dimensional model with high quality and strong visualization is generated.