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In this paper an accurate physics-based simulation model of the 3D laser scanner, based on 2D range sensor (SICK LD-OEM1000) is presented. The model of the 2D sensor derives from the characteristics of the physical one and includes the uncertainty of the measurement, the dependency of the beam incidence angle and the target surface properties. Some experiments aimed to characterize the effects of the operation time, time autocorrelation, different object surface properties and orientations are also presented in this paper. 3D scanner virtual model, developed in rigid body dynamics environment, was verified experimentally and the results are reported.