The 3D models reconstructed from binocular stereo always have noticeable noise

and even contain holes. To deal with this issue

this paper presents a non-local (NL) method to denoise and hole-fill the original model on a regular vertex set. To improve computational efficiency

the proposed method uses a basic NL method and principal component analysis (PCA) based NL method to remove model noise in hole and non-hole regions

respectively. The filled holes are then processed by NL denoising to improve the consistency with the surrounding surfaces. The experimental results show that

when evaluated on different real objects with various sizes

the proposed method can reconstruct 3D models effectively and performs much better than previous methods.