A method and apparatus for constructing a 3D scene model are provided. The method includes: acquiring a first point cloud corresponding to a current target scene (S101); determining a first partial point cloud corresponding to a dynamic object from the first point cloud (S102); constructing a foreground 3D model based on the first partial point cloud (S103); and superimposing the foreground 3D model with a background 3D model to obtain a current 3D scene model (S104). As can be seen, it is not necessary to fuse each pixel acquired by each depth camera. Instead, the dynamic object is determined in the point cloud acquired by the depth camera. Only the foreground 3D model corresponding to the dynamic object is superimposed with the background 3D model corresponding to the static objects obtained in advance. This reduces the amount of computation to build a 3D scene model.