3D models are required in a variety of applications ranging from small objects for pose estimation and grasping to large buildings or environments for navigation and localization. Depending on the application different representations of 3D models such as surface, volumetric, or feature point models are required. The data acquisition and modeling should be carried out in a real-time stream for instant application. Further, the 3D model needs to be segmented to identify objects of interest e.g. for identifying walls, tables, objects in an indoor environment.