This project offers a method for creating 3-D scans of arbitrary environments in real time, utilizing only a single RGB camera as the input sensor. The camera could be one already available in a tablet or a phone, or it could be a cheap web camera. No additional input hardware is required. This removes the need for power-intensive active sensors that do not work robustly in natural outdoor lighting. In seconds, a user can generate a compelling 3-D model, which can be used in augmented reality, for 3-D printing, or in computer-aided design.