The automated photorealistic modeling of large-scale scenes, such as urban structures, requires a fusion of range sensing technology and traditional digital photography. This process involves the automated registration and fusion of a large number of geometrically complex 3D range scans and high-resolution 2D images in a common frame of reference, and finally 3D modeling and data simplification. We will provide an overview of the challenges, and discuss our specific contributions. We will also present results of scanning large urban structures, such as the interior of the Grand Central Terminal and the Park Avenue area around Hunter College. Finally we will present some recent results in online range data classification.