A hardware-implemented method for real-time 3D reconstruction with depth camera, the method comprising: storing depth measurements received from a depth camera of a target in a depth-measurement data structure; storing a three-dimensional representation of the target in a model; registering a current depth image to the model, the current depth image received from the depth camera; modifying the depth-measurement data structure with the current depth image based on the registration; and deforming the model based on space carving and the modified depth-measurement data structure, including: space carving the model by intersecting the current depth image with the model, and calculating a surface that approximates the model using the modified depth-measurement data structure, wherein registering the current depth image to the model includes: using an ICP algorithm to 3D registration, the IPC algorithm alternating between estimating rigid motion and transforming point sets until convergence, wherein the ICP algorithm identifies corresponding closest points on the surface from the current depth image and the target surface from the model based on the following steps: for each voxel in a level set image of the model, extending a signed distance field of the model for the voxel into surrounding space via φ (·) ← Φ{ φ}(·); for each voxel in the extended image, computing a gradient of the signed distance field g = ∇ φ for the current voxel; computing a correspondence point on a boundary of the model that corresponds to the current voxel along the gradient; and storing the correspondence point. storing depth measurements received from a depth camera of a target in a depth-measurement data structure; storing a three-dimensional representation of the target in a model; registering a current depth image to the model, the current depth image received from the depth camera; modifying the depth-measurement data structure with the current depth image based on the registration; and deforming the model based on space carving and the modified depth-measurement data structure, including: space carving the model by intersecting the current depth image with the model, and calculating a surface that approximates the model using the modified depth-measurement data structure, space carving the model by intersecting the current depth image with the model, and calculating a surface that approximates the model using the modified depth-measurement data structure, wherein registering the current depth image to the model includes: using an ICP algorithm to 3D registration, the IPC algorithm alternating between estimating rigid motion and transforming point sets until convergence, wherein the ICP algorithm identifies corresponding closest points on the surface from the current depth image and the target surface from the model based on the following steps: for each voxel in a level set image of the model, extending a signed distance field of the model for the voxel into surrounding space via φ (·) ← Φ{ φ}(·); for each voxel in the extended image, computing a gradient of the signed distance field g = ∇ φ for the current voxel; computing a correspondence point on a boundary of the model that corresponds to the current voxel along the gradient; and storing the correspondence point. for each voxel in a level set image of the model, extending a signed distance field of the model for the voxel into surrounding space via φ (·) ← Φ{ φ}(·); for each voxel in the extended image, computing a gradient of the signed distance field g = ∇ φ for the current voxel; computing a correspondence point on a boundary of the model that corresponds to the current voxel along the gradient; and storing the correspondence point.