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Texture mapping is useful for constructing a three-dimensional (3D) model because a realistic 3D model can be obtained efficiently and quickly. This paper proposes a system to construct a 3D model using range intensity images. A range intensity image, which is also called a reflectance image, refers to the intensity image that is acquired simultaneously with the range image captured using an active range sensor. Such an image has an important property in which illumination conditions, such as geometrical arrangement and power of illumination, can be controlled at the capture time, which allows the estimation of the reflectance properties of the object. Several methods using range intensity images are improved and combined to construct an effective system, the registration of range images and color images is realized, an omni directional geometric model is constructed by registering and integrating multiple range images with range intensity images, and the influence of the illumination environment that occurs in color images is removed. In addition, a method to estimate the illumination color is introduced to compensate for the color of illumination light. Experiments show the effectiveness of the constructed system for obtaining a realistic 3D model.