In order to search the victims in rubble, a 3-D map of rubble is required. We have developed small laser range finders for constructing the 3-D map. Our range finder consists of a ring laser system and an omnidirectional camera. This paper describes about installation of the third prototype to snake-like rescue robot "Souryu". Also, 3-D rubble models constructed by using the Souryu with the range finder are shown.
