In the last period, we continued the work on the real-time 3D reconstruction of the environment. To this end, we integrated and evaluated several stereo depth reconstruction algorithms, namely the "block-matcher" and the "semi-global-matcher" implementation as well as the "efficient large scale stereo" implementation. By rigidly fixing a laser scanner to the stereo sensor, we were able to map the laser rays from the laser frame into the camera frames of the stereo sensor in order to obtain a ground truth for the depth estimation. The next steps are to finish the evaluation of the depth reconstruction algorithms and, in a next step, to combine these depth maps into a 3D map.