In recent years, reconstructing a sparse map from a simultaneous localization and mapping ( SLAM ) system on a conventional CPU has undergone remarkable progress. However, obtaining a dense map from the system often requires a high-performance GPU to accelerate computation. This paper proposes a dense mapping approach which can remove outliers and obtain a clean 3D model using a CPU in real-time. The dense mapping approach processes keyframes and establishes data association by using multi-threading technology. The outliers are removed by changing detections of associated vertices between keyframes. The implicit surface data of inliers is represented by a truncated signed distance function and fused with an adaptive weight. A global hash table and a local hash table are used to store and retrieve surface data for data-reuse. Experiment results show that the proposed approach can precisely remove the outliers in scene and obtain a dense 3D map with a better visual effect in real-time.