This paper describes a system which integrates laser range data and video data to construct textured 3D models of building interiors. The system has been implemented in a prototype known as the AEST (Autonomous Environmental Sensor for Telepresence) -an autonomous mobile platform carrying a scanning laser range finder and video camera. The AEST is intended to fully automate the creation of models from building interiors by navigating automatically between positions at which range data and video images are captured. Embedded software performs several functions, including triangulation of the range data and registration of video texture, registration and integration of data acquired from different capture points, and optimal selection of these capture points. This paper concentrates on the triangulation algorithm of the system, which is a hybrid approach combining geometric surface extraction and a robust triangulation. It produces accurate geometric information and at the same time, a photo-realistic triangular mesh. This is important for graphical and visualisation applications such as virtual studios, virtualised reality for content-related applications (e.g., CD-ROMs), social tele-presence, architecture and others.