The invention relates to an indoor scene three-dimensional reconstruction method based on a single depth vision sensor. The method is technically characterized by including the following steps of firstly, continuously scanning a whole indoor scene through the single depth vision sensor; secondly, conducting preprocessing including denoising, hole repairing and the like on collected depth data to obtain smooth depth data; thirdly, calculating point cloud data corresponding to the current depth frame according to the depth data collected in the second step; fourthly, conducting registration on point cloud obtained through different viewpoint depth frames to obtain complete point cloud of the indoor scene; fifthly, conducting plane fitting, achieving segmentation of the special point cloud, and establishing an independent and complete three-dimensional model of each object in the indoor scene. Scanning devices used by the method are simple; scanned data information is comprehensive, and the point cloud registration accuracy calculation efficiency is effectively improved; finally, a complete and high-quality three-dimensional model set with a geographic structure and a color map can be established for the indoor scene.