The correct relationships between real and virtual objects are of utmost importance to a realistic augmented reality system, in which the occlusion handling method should be able to estimate the spatial relationships between real and virtual objects, as well as handle the mutual occlusion automatically in real-time. To accomplish the above tasks simultaneously, we propose a novel occlusion handling method based on 3D reconstruction, which consists of offline stage and online stage. In the offline stage, we get the depth map of the real scene using a low cost RGB-D camera. Then the 3D coordinat...