Abstract: A three-dimensional modeling system includes a multi-axis range sensor configured to capture a first set of three-dimensional data representing characteristics of objects in an environment; a data sensor configured to capture a first set of sensor data representing distances between at least a subset of the objects and the data sensor; a computer-readable memory configured to store each of the first set of three-dimensional data and the first set of sensor data; a mobile base; a processor; and a computer-readable medium containing programming instructions configured to, when executed, instruct the processor to process the first set of three-dimensional data and the first set of sensor data to generate a three-dimensional model of the environment.