Abstract: Two improvements of KinectFusion algorithm are proposed. On one hand, the edge feature points in the environment are matched to improve the robustness, on the other hand, a ground plane point cloud in the model is preset to improve the accuracy. A standard RGB-D (RGB-Depth) SLAM (simultaneous localization and mapping) benchmark dataset and a data of the lab environment are modeled, and the comparison results show that, both the robustness and the accuracy are improved obviously after the improvement. The improved algorithm decreases the modeling error from 4.5% to 1.5% in a room of 6m×3m×3m. Although the efficiency is influenced, the running speed of the algorithm is still very high, and the user experience during modeling is good.