Integrated three-dimensional visualization and soft-sensing system for underground paste backfilling

•Based on three-dimensional scanning techniques and computing techniques, a novel pipeline is introduced to estimate the information of backfilling progress in real time.•Based on Monte Carlo sampling, this paper proposes a practicable method for computing the volume of points cloud slice in a goaf, even if the shape of the goaf is irregular and the points are vacant.•An integrated three-dimensional visualization system based on Browser/Server architecture is implemented, which provides a 3D visualization platform with real-time soft-sensing for the backfilling progress information.