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Three-dimensional models of real world terrain have application in a variety of tasks, but digitizing a large environment poses constraints on the design of a 3D scanning system. We have developed a Mobile Scanning System that works within these constraints to quickly digitize large-scale real world environments. We utilize a mobile platform to move our sensors past the scene to be digitized - fusing the data from cm-level accuracy laser range scanners, positioning and orientation instruments, and high-resolution video cameras - to provide the mobility and speed required to quickly and accurately model the target scene.