My tip is having your team's support using Clairvoyance efficiently. Most of the times teams will give up invading if spotted early - and if not, you're better prepared.
Keep in mind that the purpose of invading is messing up with the enemy jungler and getting First Blood + Assists. If your team fears a powerful invasion (for example, enemy team has a very strong level 1 comp, with some hard CC and damage), stick together with the jungler - general instruction on invasion is to avoid teamfights, since the defensive positions at jungle are usually better (unless your team's level 1 is awful weak). Wait at a nearby brush, leash, wait for their initiation and gank 5v5 at level 1.
Well, at least FB will eventually come out, as well as some assists. Just try to get FB, and nail their carries - the experience lost can be somewhat substantial.
As a mid, prioritize your survival - if needed, back off and wait for things to get calm again. Just don't leave your team 2v5.