A robust approach to elaborately reconstruct the indoor scene with a consumer depth camera is proposed in this paper. In order to ensure the accuracy and completeness of 3D scene model reconstructed from a freely moving camera, this paper proposes new 3D reconstruction methods, as follows: 1) depth images are processed with a depth adaptive bilateral filter to effectively improve the image quality; 2) a local-to-global registration with the content-based segmentation is performed, which is more reliable and robust to reduce the visual odometry drifts and registration errors; 3) an adaptive weighted volumetric method is used to fuse the registered data into a global model with sufficient geometrical details. Experimental results demonstrate that our approach increases the robustness and accuracy of the geometric models which were reconstructed from a consumer-grade depth camera.