We have previously proposed a remote collaboration system that supports an asymmetric interaction between an instructor and a worker at distant locations. The instructor is able to observe a remote environment from an arbitrary point of view by using a 3D model with projective texture mapping of live video captured by a remote worker's camera. However, the 3D model is manually prepared in advance and not updated during collaboration. To tackle this limitation, we integrate an omnidirectional range sensor into the previous system. A preliminary experiment has shown subjective effectiveness of the proposed system.