The ever increasing need for 3D models in robotics and Virtual Reality/Augmented Reality applications require a closer look at this widespread research field. The prerequisites range from fast, i.e. online, model generation,  highly accurate models for collision detection and avoidance to photo-realistic models used in VR, i.e. telepresence and tele-operation scenarios. To gain the appropriate model for the desired application, a wide range of sensors and several data processing steps are necessary.