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This paper describes concepts, design, implementation, and performance evaluation of a 3D-based user interface for accessing Ambient Intelligence Environments (AmIE). The generic interaction model of the described work addresses some major challenges of Human-Environment-Interaction such as cognitive overload and manual device selection, loss of user control, missing system image or over-automation. 3D visualization and 3D UI, acting as the central feature of the system, create a logical link between physical devices and their virtual representation on the user's PDA or other mobile devices. By doing so, the user can easily identify a device within the environment based on its position, orientation, and form, and access the identified devices through the 3D interface for direct manipulation within the scene.