This project presents the design and implementation of a low-cost, mobile 3D scanning system using the Intel RealSense
D435i RGB-D camera mounted on a wheeled rover. The system
performs indoor environment reconstruction by alternating
between precise 360° panoramic scans and short forward
movements, accumulating depth data at each waypoint.
Combining IMU feedback, servo control, and depth sensing, it
builds point clouds without high-end LiDAR. The result is a 3D
model suitable for tasks like inspection, logistics, or demining
support. The modular software stack, based on Open3D and
Python, enables fast prototyping and flexible deployment in
real-world environments