Wepresentasystemforaccuratereal-timemappingofcomplexandarbitraryindoorscenesinvariablelightingconditions,usingonlyamovinglow-costdepthcameraandcommoditygraphicshardware.WefuseallofthedepthdatastreamedfromaKinectsensorintoasingleglobalimplicitsurfacemodeloftheobservedsceneinreal-ti