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In this paper we will use stereo camera for 3D modeling of object in indoor environment. For mobile robot, navigation is a very important research area. Stereo vision can provide many information of the environment, and with these information robot can perform high level task. With our stereo vision system, firstly, we get disparity map from frames captured by the stereo camera. Then we extract the points of object from the frames, and convert these points to 3D coordinates. We select key points from the object points. Finally with these key points we build 3D model by our modeling system. Then we can get a virtual model of the objects in indoor environment.