The present application discloses a 3D indoor modeling method based on point cloud data. After pre-processing the raw point cloud data, the normal vectors and curvature values of the point cloud data are obtained through local surface properties analysis. By 3D point segmentation, the initial planes can be obtained. After performing the room layout re-construction, an initial 3D model can be generated. Finally, in combination with the returned laser pulse and the distance between the wall surface-objects and the wall surface, the specific form of the wall surface-object is reconstructed to achieve high-precision 3D modeling of complex indoor scenes. The method does not need any prior knowledge in advance, and strengthens the recognition and re-construction of the specific form of the wall surface, particularly suitable for high-precision 3D modeling of indoor scenes with high complexity.