In order to solve the problems of surface reconstruction and high-light weak texture objects, such as holes and noise, and information loss, a reconstruction method of illumination compensation combined with depth image was proposed. Combined with the parameter estimation of illumination direction and illumination intensity, the highlight area was determined and uniform illumination was applied. Then the drift region of the mean shift algorithm was corrected by the change track of the laser point, and an improved mean shift center descriptor was established, and the noise and holes of the depth image were determined and repaired. Finally, the surface reconstruction of the object was achieved. The results show that the proposed method can maintain the complete reconstruction of different kinds of objects, avoid the lack of information and reduce the negative impact of the external environment and the characteristics of the object itself. The robustness and effectiveness of the proposed method are verified by the high-light weak texture standard picture and real-time object reconstruction experiments, and the performance indexes such as root mean square error, peak signal-to-noise ratio and structural similarity.