Improved marching tetrahedra algorithm based on hierarchical signed distance field and multi-scale depth map fusion for 3D reconstruction.

•The paper focuses on 3D reconstruction for large-scale scenes.•We design hierarchical signed distance field (H-SDF) for multi-scale depth map fusion.•An improved marching tetrahedra algorithm based on H-SDF adjustment is proposed.•To improve efficiency, we use a two-phase search strategy on feature matching.•The coarse search with the BOF descriptor speeds up the feature matching process.