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This paper present a method to acquire a realistic, visually convincing 3D model for indoor environment using a mobile robot platform with two laser range scanners and one omnidirectional camera. First, the vertical mounted laser scanner is used to acquire geometrical 3D model of indoor environment, while the horizontal mounted laser scanner is used to solve the simultaneous localization and mapping problem. After joint calibration of vertical mounted laser scanners and omnidirectional camera, we can combine the scan points of laser scanner with the corresponding pixels in the panoramic images, and then finally can get a high-quality real-time 3D model by incorporating the range data and color information. Experimental results from a real environment are presented at last.