Although intensity images can be obtained quickly, it is difficult to derive 3-D information. On the other hand, it is expensive or time consuming to get 3-D range data. In this paper, the range data obtained by a 2-D laser range finder is used to complement the intensity images for 3-D scene reconstruction. A sensor fusion method is described for fast computation of the 3-D scene. A polyhedral 3-D static model (PSM) for scene analysis is presented. The recovered features can match with the PSM to determine the location of the robot and reconstruct the scene.