This paper describes a system for indoor scene modeling from sets of noisy laser range images. We address several important aspects thereof: preprocessing, which includes image segmentation and planar model fitting; view registration, which is the method of determining the rigid transformation that describes the relative pose of the camera platform between views; and reconstruction, which is the subsequent integration or fusion of separate range images into a single 3D model. We give an empirical analysis, which demonstrates the efficacy of our plane-based registration strategy and results on real data that show the performance of the reconstruction system in its entirety.